Abstract
［Objective］ To explore methods for improving the accuracy and efficiency of food dynamic sorting through multi -Delta robot collaboration.［Methods］ Based on a multi -Delta robot food automation production line,a collaborative dynamic sorting method integrating dynamic target tracking,multi -robot task classification,and robot trajectory planning is proposed.By accurately calculating the movement distance of the conveyor belt and combining it with real -time target coordinates acquired by cameras,accurate tracking of the dynamic positions of food items is achieved.A centralized control allocation strategy is adopted to assign tasks scientifically and rationally according to each robot's working status and task priority.Multi -objective comprehensive optimal trajectory planning is realized using an improved third -generation Non -dominated Sorting Genetic Algorithm (NSGA -III) and a fifth -order Non -Uniform Rational B -Spline (NURBS ) curve.The performance of the proposed method is comprehensively verified through the construction of an experimental platform.［Results］］ The proposed multi -Delta robot collaborative sorting method exhibits excellent performance.In practical operation,it achieves high accuracy,efficiency,and stability in food sorting,with a sorting success rate of 100%,an average sorting time of 0.231 s,an average operational impact of 4.45×103 (°)/s3,and an average energy consumption of 2.45×102 (°)/s2,effectively meeting the requirements for efficient and 引用格式：郭凌岑，王海晖，赵小霏，等.基于改进 NSGA -III的多 Delta机器人协作食品动态分拣研究 ［J］.食品与机械，2025，41（7）：72-77.C itation:GUO Lingcen,WANG Haihui,ZHAO Xiaofei,et al.Dynamic food sorting by multiple Delta robot collaboration based on the improved NSGA-III [J].Food & Machinery,2025,41(7):72-77.|stable food production.［Conclusion］ By optimizing existing dynamic sorting methods and integrating multiple robots,this approach enables accurate,efficient,and stable food sorting.
Publication Date
7-11-2025
First Page
72
Last Page
77
DOI
10.13652/j.spjx.1003.5788.2025.60021
Recommended Citation
Lingcen, GUO; Haihui, WANG; Xiaofei, ZHAO; and Silu, WANG
(2025)
"Dynamic food sorting by multiple Delta robot collaboration based on the improved NSGA-III,"
Food and Machinery: Vol. 41:
Iss.
7, Article 11.
DOI: 10.13652/j.spjx.1003.5788.2025.60021
Available at:
https://www.ifoodmm.cn/journal/vol41/iss7/11
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