Path Optimization of Two-Posture Manipulator of Apple Packing Robots
Automated packing is urgently needed in apple production. This paper proposes an improved genetic algorithm fused with an optimal parameter selection algorithm to optimize the two-posture manipulator working path of packing robots. First, the structure and working principle of the packing robot were...
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MDPI AG
2024-10-01
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| Series: | Applied Sciences |
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| Online Access: | https://www.mdpi.com/2076-3417/14/19/8849 |
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| author | Rong Xiang Binbin Feng |
| author_facet | Rong Xiang Binbin Feng |
| author_sort | Rong Xiang |
| collection | DOAJ |
| description | Automated packing is urgently needed in apple production. This paper proposes an improved genetic algorithm fused with an optimal parameter selection algorithm to optimize the two-posture manipulator working path of packing robots. First, the structure and working principle of the packing robot were designed. Second, the kinematics and packing paths of the two-posture manipulator were analyzed. Finally, the path optimization method for the two-posture manipulator was introduced. The method was based on the improved genetic algorithm by using a two-level coding and region crossover operator. The parameter values can be automatically determined by the optimal parameter selection algorithm. Ten repeated comparative tests show that the total packing time is 23.86 s under the working conditions of four grasping points and fourteen placing points. The optimal performance of the proposed algorithm is better than that of the traditional genetic algorithm, and the average optimization amplitudes are 14.63%, 15.42%, 16.24%, and 13.82% for 9-groove, 12-groove, 14-groove, and 16-groove trays, respectively. The proposed algorithm can effectively prevent the premature convergence problem of the traditional genetic algorithm and the optimization process instability problem, improve the range of optimization, and reduce the manipulator working time during packing. |
| format | Article |
| id | doaj-art-bf7b5e5589884c9bbbf182b4376ca71c |
| institution | OA Journals |
| issn | 2076-3417 |
| language | English |
| publishDate | 2024-10-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Applied Sciences |
| spelling | doaj-art-bf7b5e5589884c9bbbf182b4376ca71c2025-08-20T01:47:44ZengMDPI AGApplied Sciences2076-34172024-10-011419884910.3390/app14198849Path Optimization of Two-Posture Manipulator of Apple Packing RobotsRong Xiang0Binbin Feng1College of Quality and Standardization, China Jiliang University, No. 258, Xueyuan Street, Higher Education Zone of Xiasha, Hangzhou 310018, ChinaCollege of Quality and Standardization, China Jiliang University, No. 258, Xueyuan Street, Higher Education Zone of Xiasha, Hangzhou 310018, ChinaAutomated packing is urgently needed in apple production. This paper proposes an improved genetic algorithm fused with an optimal parameter selection algorithm to optimize the two-posture manipulator working path of packing robots. First, the structure and working principle of the packing robot were designed. Second, the kinematics and packing paths of the two-posture manipulator were analyzed. Finally, the path optimization method for the two-posture manipulator was introduced. The method was based on the improved genetic algorithm by using a two-level coding and region crossover operator. The parameter values can be automatically determined by the optimal parameter selection algorithm. Ten repeated comparative tests show that the total packing time is 23.86 s under the working conditions of four grasping points and fourteen placing points. The optimal performance of the proposed algorithm is better than that of the traditional genetic algorithm, and the average optimization amplitudes are 14.63%, 15.42%, 16.24%, and 13.82% for 9-groove, 12-groove, 14-groove, and 16-groove trays, respectively. The proposed algorithm can effectively prevent the premature convergence problem of the traditional genetic algorithm and the optimization process instability problem, improve the range of optimization, and reduce the manipulator working time during packing.https://www.mdpi.com/2076-3417/14/19/8849applepacking robotmanipulatorpath optimizationgenetic algorithmparameter optimization |
| spellingShingle | Rong Xiang Binbin Feng Path Optimization of Two-Posture Manipulator of Apple Packing Robots Applied Sciences apple packing robot manipulator path optimization genetic algorithm parameter optimization |
| title | Path Optimization of Two-Posture Manipulator of Apple Packing Robots |
| title_full | Path Optimization of Two-Posture Manipulator of Apple Packing Robots |
| title_fullStr | Path Optimization of Two-Posture Manipulator of Apple Packing Robots |
| title_full_unstemmed | Path Optimization of Two-Posture Manipulator of Apple Packing Robots |
| title_short | Path Optimization of Two-Posture Manipulator of Apple Packing Robots |
| title_sort | path optimization of two posture manipulator of apple packing robots |
| topic | apple packing robot manipulator path optimization genetic algorithm parameter optimization |
| url | https://www.mdpi.com/2076-3417/14/19/8849 |
| work_keys_str_mv | AT rongxiang pathoptimizationoftwoposturemanipulatorofapplepackingrobots AT binbinfeng pathoptimizationoftwoposturemanipulatorofapplepackingrobots |