【目的】针对现有取苗与栽植一体式移栽机构作业时夹带泥土影响二次取苗及秧苗栽插直立度的问题，本研究提出了一种取苗与栽植双机构协同作业的水稻钵苗移栽方式。【方法】首先，结合钵苗夹取、交接、栽植要求，设定移栽过程的若干关键位姿点作为取与栽植动作的约束条件，规划运动轨迹；依据杆长不变原理构建平面2R机构多位姿近似运动综合模型，采用粒子群优化(PSO)算法求解机构两转动副的最优布局，确定杆长，并建立了交接段的几何约束；结合转动副位置与杆长参数复演运动轨迹，求解两构件相对角位移，获取非圆齿轮传动比。为改善非圆齿轮节曲线凹凸性，建立节曲线圆度系数目标函数，利用PSO算法实现非圆齿轮圆度优化，完成取苗与栽植两轮系机构的设计。【结果】对机构的仿真分析与台架试验表明：机构实际运动轨迹与理论轨迹最大偏差小于1.8 mm，关键位姿夹取角度误差不超过1.2 °，移栽成功率可达88.7%。【结论】本研究采用取栽分离协同作业模式，可有效解决传统机构夹带泥土导致的移栽效果不佳问题，为高效水稻钵苗移栽装备研发提供了新的理论依据。

【Objective】In response to the problem that the existing integrated transplanting mechanism for picking and planting seedlings carries soil during operation, which affects subsequent seedling-picking and seedling-planting verticality, this study proposes a rice pot seedling transplanting method using dual mechanisms for seedling picking and planting.【Method】Firstly, based on the requirements for seedling picking, handover, and planting, several key pose points during the transplanting process were set as constraints for the picking and planting actions, and the motion trajectory was planned. Based on the principle of constant link length, a multi-position approximate motion synthesis model for a planar 2R mechanism was constructed. The particle swarm optimization (PSO) algorithm was used to solve for the optimal layout of the two rotating pairs of the mechanism, determine the rod length, and establish geometric constraints for the handover section. By combining the positions of the rotating pairs and the rod length parameters, the motion trajectory was reconstructed to solve the relative angular displacement between the two components and obtain the non-circular gear transmission ratio. To improve the concavity and convexity of the non-circular gear pitch curves, an objective function for the roundness coefficient of the pitch curves was established. The PSO algorithm was used to optimize the roundness of the non-circular gears, thus completing the design of the two-wheel mechanism for seedling picking and planting.【Result】Simulation analysis and bench tests of the mechanism showed that the maximum deviation between the actual motion trajectory and the theoretical trajectory is less than 1.8 mm, the error in the key pose clamping angle does not exceed 1.2°, and the transplanting success rate can reach 88.7%.【Conclusion】This study adopts a cooperative operation mode with separated picking and planting, which can effectively solve the problem of poor transplanting effect caused by soil carry-over in traditional mechanisms, and provides a new theoretical basis for the development of efficient rice pot seedling transplanting equipment.