Food sorting trajectory optimization based on improved NURBS and Delta parallel robots
ObjectiveReduce the running time and impact of Delta robot in food sorting trajectory, improve the efficiency and stability of Delta robot operation.MethodsBased on the analysis of the food sorting system (using Delta robots), a Delta robot food sorting trajectory optimization method was proposed, w...
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| Format: | Article |
| Language: | English |
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The Editorial Office of Food and Machinery
2024-10-01
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| Series: | Shipin yu jixie |
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| Online Access: | http://www.ifoodmm.com/spyjx/article/html/20241011?st=article_issue |
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| author | CHEN Guangdong SHAO Jian WANG Feini ZHAO Xuecheng |
| author_facet | CHEN Guangdong SHAO Jian WANG Feini ZHAO Xuecheng |
| author_sort | CHEN Guangdong |
| collection | DOAJ |
| description | ObjectiveReduce the running time and impact of Delta robot in food sorting trajectory, improve the efficiency and stability of Delta robot operation.MethodsBased 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.ResultsThe 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.ConclusionOptimizing NURBS curves through a combination of runtime and impact optimization can effectively improve the food sorting performance of Delta robots. |
| format | Article |
| id | doaj-art-22805030e3a54cb8be3bd2b2b47f9557 |
| institution | OA Journals |
| issn | 1003-5788 |
| language | English |
| publishDate | 2024-10-01 |
| publisher | The Editorial Office of Food and Machinery |
| record_format | Article |
| series | Shipin yu jixie |
| spelling | doaj-art-22805030e3a54cb8be3bd2b2b47f95572025-08-20T02:04:52ZengThe Editorial Office of Food and MachineryShipin yu jixie1003-57882024-10-014010737910.13652/j.spjx.1003.5788.2024.601081003-5788（2024）10-0073-07Food sorting trajectory optimization based on improved NURBS and Delta parallel robotsCHEN Guangdong0SHAO Jian1WANG Feini2ZHAO Xuecheng3Jiangsu Lianshui Open University, Huai'an, Jiangsu223401, ChinaHangzhou Dianzi University, Hangzhou, Zhejiang310018, ChinaJiangsu University of Technology, Changzhou, Jiangsu213001, ChinaJiangsu University of Science and Technology, Zhenjiang, Jiangsu212100, ChinaObjectiveReduce the running time and impact of Delta robot in food sorting trajectory, improve the efficiency and stability of Delta robot operation.MethodsBased 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.ResultsThe 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.ConclusionOptimizing NURBS curves through a combination of runtime and impact optimization can effectively improve the food sorting performance of Delta robots.http://www.ifoodmm.com/spyjx/article/html/20241011?st=article_issuefood sortingplanning optimizationdelta robotbutterfly optimization algorithmnurbs algorithmsparrow search algorithm |
| spellingShingle | CHEN Guangdong SHAO Jian WANG Feini ZHAO Xuecheng Food sorting trajectory optimization based on improved NURBS and Delta parallel robots Shipin yu jixie food sorting planning optimization delta robot butterfly optimization algorithm nurbs algorithm sparrow search algorithm |
| title | Food sorting trajectory optimization based on improved NURBS and Delta parallel robots |
| title_full | Food sorting trajectory optimization based on improved NURBS and Delta parallel robots |
| title_fullStr | Food sorting trajectory optimization based on improved NURBS and Delta parallel robots |
| title_full_unstemmed | Food sorting trajectory optimization based on improved NURBS and Delta parallel robots |
| title_short | Food sorting trajectory optimization based on improved NURBS and Delta parallel robots |
| title_sort | food sorting trajectory optimization based on improved nurbs and delta parallel robots |
| topic | food sorting planning optimization delta robot butterfly optimization algorithm nurbs algorithm sparrow search algorithm |
| url | http://www.ifoodmm.com/spyjx/article/html/20241011?st=article_issue |
| work_keys_str_mv | AT chenguangdong foodsortingtrajectoryoptimizationbasedonimprovednurbsanddeltaparallelrobots AT shaojian foodsortingtrajectoryoptimizationbasedonimprovednurbsanddeltaparallelrobots AT wangfeini foodsortingtrajectoryoptimizationbasedonimprovednurbsanddeltaparallelrobots AT zhaoxuecheng foodsortingtrajectoryoptimizationbasedonimprovednurbsanddeltaparallelrobots |