In order to improve the efficiency of castor shelling, the method of tumbling shelling was determined, and the shelling device with double curved table structure was designed. The cleaning mechanism combined vibration screening and air suction was designed. Depending on the physical and mechanical properties of the castor fruit, the asymmetrical double circular table structure of the inner shell of husking device was designed. The taper angle was determined and the outer shell of the shelling drum was designed, the mathematical model of the position of the shelling drum and the shelling gap at different stages was established, and a theoretical basis was provided for the dynamic simulation of the shelling device; the ADAMS was used to extract the nettle. The kinematics simulation was carried out in different shelling stages to analyze the variation of the displacement and velocity of the material in the fracturing stage and the shelling stage, and analyze the influence of gap of discharge port of different unloading drums on each stage. The simulation results showed that in the fracturing stage, with the increase of gap of discharge port of upper shelling drum, the time after castor fruit reached the specific fracturing position was delayed, the displacement was increased, the speed of movement reached the maximum at 056s. In the shelling stage, with the increase of gap of discharge port of lower shelling drum, the time when the castor seed reached the specific shelling position was delayed; when the castor seed reached the shell breaking condition, the displacement was increased, and the moving speed was firstly increased and then decreased. According to the ADAMS simulation results, the reasonable working parameter interval of the adjustable castor shelling and clearing device was selected, taking the speed of the shelling drum, the gap of the upper shelling drum outlet and the gap of the lower shelling drum outlet as the factors. The response surface analysis method was used to test the sealing device. After double target optimization, the rotation speed of the drum was 270r/min, the gap of discharge port of upper shelling drum was 13.54mm, and the gap of outlet of lower shelling drum was 5mm. The test result showed that the performance of the sealing device was the best. The removal rate was 92.03% and the breakage rate was 3.1%.