基于改进门字形轨迹的番茄生产线DELTA分选机器人轨迹规划

目的：解决现有番茄加工生产线DELTA机器人在番茄分选过程中存在的效率低和运动稳定性差等问题。方法：在对DELTA机器人分选系统进行分析的基础上，将回旋线优化的门字形轨迹用于DELTA机器人轨迹规划。利用回旋线替换门字形轨迹的直角部分，建立以时间最优为目标的优化模型，通过改进的蚁群优化算法求解优化后门字形轨迹参数。通过试验对其性能进行分析。结果：所提方法相比于门字形轨迹和文献20]方法具有更优的平均分选时间和分选成功率，平均分选时间分别降低了11.61%和1.63%，分选成功率提高了2.05%和0.56%。结论：所提规划方法有效提高了DELTA机器人分选精度和效率。

A trajectory planning method for DELTA sorting robot in tomato production line based on improved gate shaped trajectory

Objective: To solve the problems of low efficiency and poor motion stability of DELTA robots in the tomato sorting process of existing tomato processing production lines. Methods: Based on the analysis of the DELTA robot sorting system, the optimized gate shaped trajectory of the cyclotron was used for DELTA robot trajectory planning. By replacing the right angle part of the gate shaped trajectory with a convolutional line, an optimization model with the goal of time optimization was established. The optimized parameters of the gate shaped trajectory were solved using an improved ant colony optimization algorithm. Analyzed its performance through experiments. Results: The proposed method had better average sorting time and sorting success rate compared to the gate shaped trajectory and other methods, with an average sorting time reduction of 11.61% and 1.63%, respectively, and a sorting success rate increase of 2.05% and 0.56%. Conclusion: The proposed planning method effectively improves the sorting accuracy and efficiency of DELTA robots.