食品与机械2024，Vol.40Issue(10)：73-79,7.DOI:10.13652/j.spjx.1003.5788.2024.60108
基于改进NURBS和Delta并联机器人的食品分拣轨迹优化
Food sorting trajectory optimization based on improved NURBS and Delta parallel robots
摘要
Abstract
[Objective]Reduce the running time and impact of Delta robot in food sorting trajectory,improve the efficiency and stability of Delta robot operation.[Methods]Based on the analysis of the food sorting system(using Delta robots),a Delta robot food sorting trajectory optimization method was proposed,which combined NURBS algorithm,sparrow search algorithm and butterfly optimization algorithm.Optimizing the running trajectory of Delta robot for NURBS curve planning with the goal of minimizing running time and impact,combining sparrow search algorithm and butterfly optimization algorithm to solve the model,which realized the optimization of Delta robot sorting trajectory.[Results]The proposed Delta robot sorting trajectory optimization method could balance running time and impact,reduce running time by more than 6.00%and running impact by more than 80.00%.The dynamic grasping success rate of the system was over 99.00%,which could meet the requirements of food sorting.[Conclusion]Optimizing NURBS curves through a combination of runtime and impact optimization can effectively improve the food sorting performance of Delta robots.关键词
食品分拣/规划优化/Delta机器人/麻雀搜索算法/NURBS算法/蝴蝶优化算法Key words
food sorting/planning optimization/Delta robot/butterfly optimization algorithm/NURBS algorithm/sparrow search algorithm引用本文复制引用
陈广东,邵健,王菲妮,赵学成..基于改进NURBS和Delta并联机器人的食品分拣轨迹优化[J].食品与机械,2024,40(10):73-79,7.基金项目
江苏省科技攻关项目(编号:23JS34981302) （编号:23JS34981302）
江苏省教育厅教学改革研究与实践项目(编号:zcz76) （编号:zcz76）
