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In response to the existing cotton stalk harvesting machinery has high breakage rate, high leakage rate, and the need of work on rows and other problems, a clamping-roller cotton stalk pulling device was designed. The device was mainly composed of cotton stalk pulling mechanism and cotton stalk conveying mechanism, and the structural parameters and working parameters of each component were determined through the kinematic and dynamics analysis of the operation process of the cotton stalk pulling mechanism. In order to verify the reliability and operational performance of the cotton stalk pulling device, a three-factors, three-levels quadratic regression orthogonal test was conducted with the forward speed of machine, the speed of upper stalk pulling roller, the ratio of forward speed of the machine to the linear speed of the stalk plucking wheel (referred to as the speed ratio) as the test factors, and the stalk breakage rate and the leakage rate as the test indexes. A regression model was established to analyze the influence of each factor on the operational performance of the cotton stalk pulling device, and parameter optimization and test verification were carried out. The test results showed that the factors affecting the stalk breakage rate in the main order was upper stalk roller speed, machine forward speed and speed ratio;the factors affecting the stalk leakage rate in the main order was speed ratio, machine forward speed and upper stalk roller speed. The optimized working parameters was as follows: machine forward speed of 0.60m/s, upper stalk roller speed of 46r/min and speed ratio of 0.50 for field test, the combination of these parameters was tested in the field, and the stalk breakage rate was 3.68%, and leakage rate was 5.19%, the relative error with the theoretical optimized value was not more than 5%, the research results can provide reference for the design of cotton stalk pulling device.