Visual optimization design of manipulator for transplanting rice seedlings

Manipulator for transplanting rice seedlings is key work parts of high-performance rice transplanter. The advantages and disadvantages of its structural parameters have direct impact on performance of transplanting rice seedlings. Mathematic model of the manipulator was established firstly, and optimization program with visual human-computer interaction was compiled based on the software of Visual Basic 6.0. The optimization method considered kinematic demands which involve with end-path and motion gesture of manipulator and path height. Then, influence of various design variables on optimization objectives was analyzed under the condition of given constraints. Finally, the manipulator´s structural parameters, which satisfy the requirements of separating and planting seedlings, could be found. The results show that the method with visual human-computer interaction is easy to realize structural parameters optimization of the manipulator, and not noly overcomes shortcomings of traditional optimization menthods, but also notably improves optimizing efficiency.