Research on the seedling picking trajectory error of the gear train seedling picking mechanism considering tooth backlash

The research investigated the tooth backlash influences the error in seedling picking trajectories of the gear train SPM. First, a sine function and the sum of random errors are taken into account is utilized to fit the tooth backlash of the firstly and secondary transmissions. Additionally, the analysis established the relationship between the fitting parameters and the tooth backlash of the firstly and secondary transmissions, in order to determine the appropriate fitting parameters. Next, the relationship between the tooth backlash of the firstly and secondary transmission in the seedling picking mechanism (SPM) and the x, y coordinates, as well as the velocity and acceleration of the seedling needle tip (SNT), is examined. This analysis is based on the error and movement variance of the coordinate and kinematic parameters of SNT. The results indicate that the tooth backlash of the firstly transmission has a more significant influence on the error of the seedling picking trajectory compared to the tooth backlash of the secondary transmission. When the tooth backlash of the noncircular gear in the firstly transmission reaches its maximum value of 0.24 mm, the x and y coordinates of the SNT can reach maximum values of 1 and 3.5 mm. The test of the jumping of the needle tip and idling trajectory description indicated that noncircular gears with larger tooth backlash exhibit higher positional jumping at the tip of the seedling needle.