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

作　　者：陈广东 邵健[2] 王菲妮 赵学成 CHEN Guangdong;SHAO Jian;WANG Feini;ZHAO Xuecheng(Jiangsu Lianshui Open University,Huai'an,Jiangsu 223401,China;Hangzhou Dianzi University,Hangzhou,Zhejiang 310018,China;Jiangsu University of Technology,Changzhou,Jiangsu 213001,China;Jiangsu University of Science and Technology,Zhenjiang,Jiangsu 212100,China)

机构地区：[1]江苏省涟水开放大学,江苏淮安223401 [2]杭州电子科技大学,浙江杭州310018 [3]江苏理工学院,江苏常州213001 [4]江苏科技大学,江苏镇江212100

出　　处：《食品与机械》2024年第10期73-79,共7页Food and Machinery

基　　金：江苏省科技攻关项目(编号:23JS34981302);江苏省教育厅教学改革研究与实践项目(编号:zcz76)。

摘　　要：[目的]降低Delta机器人在食品分拣轨迹中的运行时间和冲击,提高Delta机器人运行效率和稳定性。[方法]在分析食品分拣系统(应用Delta机器人)的基础上,提出了一种结合NURBS算法、麻雀搜索算法和蝴蝶优化算法的Delta机器人食品分拣轨迹优化方法。以运行时间和冲击最小化为目标对NURBS曲线规划的Delta机器人运行轨迹进行优化,结合麻雀搜索算法和蝴蝶优化算法求解模型,实现Delta机器人分拣轨迹优化。通过试验对Delta机器人分拣轨迹的运行时间和冲击进行分析。[结果]所提Delta机器人分拣轨迹优化方法可以兼顾运行时间和冲击,运行时间降低6.00%以上,运行冲击降低80.00%以上,系统的动态抓取成功率在99.00%以上,可满足食品分选要求。[结论]通过运行时间和冲击综合最优对NURBS曲线进行优化,可以有效提高Delta机器人食品分拣性能。[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 

分 类 号：TS203[轻工技术与工程—食品科学] TP242[轻工技术与工程—食品科学与工程] TP18[自动化与计算机技术—检测技术与自动化装置]