现代制造工程Issue(8)：28-35,8.DOI:10.16731/j.cnki.1671-3133.2026.08.004
基于移动平台与Delta机器人的大范围物流分拣系统设计与实现
Design and implementation of a large-scale logistics sorting system based on mobile platform and Delta robot
摘要
Abstract
To address the large footprint,fixed deployment,and limited workspace of a single Delta robot in conventional conveyor-based logistics sorting systems,a large-scale sorting system based on a mobile platform and a Delta robot is proposed.The system integrates a gantry-type two-dimensional mobile mechanism with a Delta parallel robot,and establishes a closed-loop framework of vision processing,motion control,and end-effector execution.A two-stage visual localization method,combined with quintic poly-nomial trajectory planning and online error correction,is adopted to realize integrated target recognition,localization,grasping,and placement.Experimental results show that the long-range detection accuracy exceeds 95％,the short-range localization error is better than±0.5 mm,and both the mobile platform and the Delta robot achieve millimeter-level positioning performance,enabling stable continuous sorting of multiple targets.This work provides a reference for flexible and low-cost logistics sorting equipment design.关键词
物流分拣/Delta机器人/移动平台/视觉定位/闭环控制Key words
logistics sorting/Delta robot/mobile platform/visual localization/closed-loop control分类
信息技术与安全科学引用本文复制引用
胡一博,雷乔治,奚月平..基于移动平台与Delta机器人的大范围物流分拣系统设计与实现[J].现代制造工程,2026,(8):28-35,8.基金项目
广东省高等教育学会"十四五"规划2025年度高等教育研究课题项目(25GQN046) （25GQN046）
