Objective: Improve the sorting effect of single-piece ham package. Methods:Combined with automatic control, machine vision and other technologies, a sorting system capable of identifying single-chip ham defects was designed based on a Delta parallel robot. The kinematics and dynamics model of 2-DOF Delta parallel robot was established, and then the Delta parallel robot was optimized. The composition of control system and the algorithm of image processing were designed. Results: The system can successfully identify impurities and creases, with the recognition rate of up to 95%. It can also accurately and efficiently sort single-piece ham package, with the sorting success rate of more than 98%, and the sorting efficiency of more than 160 packets per minute. Conclusion: The sorting system can realize continuous operation of identification, grasping, handling, sorting and eliminating.

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