Kinematic Modeling and Preliminary Field Evaluation of a Link-Driven Hopper Planting Mechanism for a 3.4 kW Walking-Type Pepper Transplanter

Labor shortages and reliance on manual seedling transplanting constrain pepper production from meeting market demand. To address this mechanization gap, the development of new agricultural machinery is an urgent priority. This study presented kinematic modeling and field validation of an automatic link-driven hopper planting unit for a 3.4 kW walking-type pepper transplanter under development. Kinematic behavior of the hopper was analyzed through mathematical modeling and dynamic simulation and validated under actual transplanting conditions under ridge-patterned field. The optimal design (crank length: 75 mm; 60 rpm) achieved a stable elliptical trajectory that enabled synchronized seedling pickup, tray release, and soil deposition while maintaining vertical alignment. Under this setup, the hopper followed a stable elliptical trajectory (166.88 mm × 318.81 mm), with supply and deposition coordinates of approximately (321 mm, −322 mm) and (293 mm, −617 mm), and peak velocities and accelerations within 0.47 m/s and 1.68 m/s², respectively. Field results showed that the proposed mechanism enabled reliable transplanting performance, achieving a mean planting depth of 27.06 ± 8.18 mm and an uprightness angle of 80.03 ± 7.56°, which fall within agronomic requirements for early pepper establishment. The overall defect rate was low (7.17 ± 3.73%), leading to a 92.83 ± 3.73% success rate at a throughput of 24 seedlings min⁻¹. Variety-dependent responses were observed: Kaltan seedlings exhibited lower defect rates and greater stability than Shinhung seedlings, highlighting the importance of plug strength and stem rigidity in automated systems. These results demonstrate that the mechanism supports fully automated transplanting with acceptable agronomic quality and provides practical design guidance for advancing mechanized pepper production.