Abstract
[Objective] To improve the operational efficiency, operational stability, and energy efficiency of food -sorting robots and achieve intelligent and precise optimization of sorting trajectories. [Methods] An intelligent trajectory optimization method for parallel -robot yogurt sorting was proposed by integrating multi -objective optimization with an improved multi -objective particle swarm optimization (MOPSO ) algorithm. A 3-5-3-5-3 segmented polynomial interpolation algorithm was used to construct the robot's joint motion trajectories, with the objectives of minimizing sorting time, total energy consumption of the robot, and mechanical impact. The MOPSO model was optimized by improving particle inertia weights, external archive update strategies, and crowding -based selection mechanisms. Experiments were conducted to verify the superiority of the proposed method. [Results] The improved MOPSO algorithm effectively achieved collaborative multi -objective optimization, producing smooth trajectories without abrupt changes throughout the entire process. Compared with conventional trapezoidal acceleration -deceleration planning and MOPSO -based optimization, the proposed method increased sorting efficiency by 21.00% and 7.06%, respectively, reduced operational energy consumption by 36.19% and 17.96%, respectively, and decreased peak joint acceleration by 29.66% and 7.74%, respectively. The robot's end -positioning deviation was only 0.03 mm, enabling damage -free and displacement -free sorting of boxed yogurt. [Conclusion] The proposed method enables coordinated optimization of multiple performance objectives for parallel -robot yogurt -sorting trajectories while meeting the requirements for production efficiency, equipment service life, and energy conservation.
Publication Date
11-3-2026
First Page
99
Last Page
106
DOI
10.13652/j.spjx.1003.5788.2026.60078
Recommended Citation
Yun, Wang; Xiaojie, Wang; and Xu, Guo
(2026)
"Intelligent optimization method for parallel robot boxed yogurt sorting trajectory based on improved MOPSO,"
Food and Machinery: Vol. 42:
Iss.
10, Article 11.
DOI: 10.13652/j.spjx.1003.5788.2026.60078
Available at:
https://www.ifoodmm.cn/journal/vol42/iss10/11
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