Study on Trajectory Optimization for a Flexible Parallel Robot in Tomato Packaging

Tianci Guo, Jiangbo Li (), Yizhi Zhang, Letian Cai and Qicheng Li
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Tianci Guo: College of Mechanical and Electrical Engineering, Shihezi University, Shihezi 832003, China
Jiangbo Li: Intelligent Equipment Research Center, Beijing Academy of Agriculture and Forestry Sciences, Beijing 100097, China
Yizhi Zhang: Intelligent Equipment Research Center, Beijing Academy of Agriculture and Forestry Sciences, Beijing 100097, China
Letian Cai: Intelligent Equipment Research Center, Beijing Academy of Agriculture and Forestry Sciences, Beijing 100097, China
Qicheng Li: Intelligent Equipment Research Center, Beijing Academy of Agriculture and Forestry Sciences, Beijing 100097, China

Agriculture, 2024, vol. 14, issue 12, 1-17

Abstract: Currently, flexible robots, exemplified by parallel robots, play a crucial role in the automated packaging of agricultural products due to their rapid, accurate, and stable characteristics. This research systematically explores trajectory planning strategies for parallel robots in the high-speed tomato-grabbing process. Kinematic analysis of the parallel robot was conducted using geometric methods, deriving the coordinates of each joint at various postures, resulting in a kinematic forward solution model and corresponding equations, which were verified with data. To address the drawbacks of the point-to-point “portal” trajectory in tomato grabbing, a 3-5-5-3 polynomial interpolation method in joint space was proposed to optimize the path, enhancing trajectory smoothness. To improve the efficiency of the tomato packaging process, a hybrid algorithm combining particle swarm optimization (PSO) and genetic algorithms (GA) was developed to optimize the operation time of the parallel robot. Compared to traditional PSO, the proposed algorithm exhibits better global convergence and is less likely to fall into local optima, thereby ensuring a smoother and more efficient path in the robot-grabbing tomato process and providing technical support for automated tomato packaging.

Keywords: parallel robot; trajectory planning; polynomial interpolation; improved particle swarm optimization; tomato packaging (search for similar items in EconPapers)
JEL-codes: Q1 Q10 Q11 Q12 Q13 Q14 Q15 Q16 Q17 Q18 (search for similar items in EconPapers)
Date: 2024
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