刚体导引传统方法多用于闭链连杆机构的综合，存在机构缺陷，可行解域小，且大多是面向有限精确位姿要求的工况，不能满足实际工程的复杂混合位姿（精确通过部分位姿，且逼近剩余位姿）要求，因此使用受限。项目拟研究可行解域较大的3R开链式连杆机构的刚体导引方法，并用非圆齿轮约束其中3R机构的多自由度。.项目拟面向混合位姿要求，采用三坐标系变换对运动学映射综合方法进行改进和拓展，建立3R开链机构的刚体导引计算模型，并对其进行顺序缺陷剔除和解域分析；对约束该3R开链机构自由度的非圆齿轮构型进行匹配算法和尺度综合研究；得到混合位姿约束的3R开链式非圆齿轮连杆机构刚体导引方法。将该方法用于钵苗移栽机取栽一体机构的综合，并进行试验研究。.项目将刚体导引只局限于闭链连杆机构拓展到了混合位姿约束的3R开链式非圆齿轮连杆机构，避免了回路缺陷和分支缺陷，可行解域大，更适合实际工程需求，在机构学领域具有重要的普遍科学意

Traditional methods of rigid body guidance are mostly used for the synthesis of closed-chain linkage mechanisms, which exist some defects and their feasible solution areas are small. These methods are mostly used to meet the requirement of passing a certain number accurate poses. So, they cannot meet the practical requirements of complex mixed exact and approximated poses and positions (pass accurately part of the poses, and approximate the remaining poses), and their use is limited. This project intends to study the rigid body guidance method of 3R open-chain linkage mechanism which has large feasible solution areas, and its multi-degree of freedom is restricted with non-circular gears.. In order to meet the requirements of mixed exact and approximated poses and positions, the method of kinematics mapping synthesis will be improved and expanded by using three coordinate system transformations, and the rigid body guidance calculation model of 3R open chain mechanism will be established, and its sequential defects will be eliminated and solution areas will be analyzed. The matching algorithm and scale synthesis of non-circular gear configurations will be studied. So, rigid body guidance method of 3R open-chain geared linkages with non-circular gears will be obtained to meet the practical requirements of complex mixed exact and approximated pose and position. At last, the method will be applied to the synthesis of the transplanting mechanism of pot seedling transplanter, and the test will be carried out.. This project will extend the application of rigid body guidance method to the 3R open-chain geared linkages with non-circular gears with constraints of complex mixed exact and approximated pose and position, and the defects of loop and branch will be avoided. It will have large feasible solution areas, and will be more suitable for practical engineering needs. It has important universal scientific significance in the field of mechanism.