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Trajectory analysis and optimization of sea buckthorn fruit vibration separation manipulator based on I-PSO algorithm
Bingqin Liang1, Xinzhang Lin1, Ganghui Liu1
1College of Mechanical and Electrical Engineering; Xinjiang Production and Construction Corps Key Laboratory of Modern Agricultural Machinery; Key Laboratory of Northwest Agricultural Equipment, Ministry of Agriculture and Rural Affairs, Shihezi University, Shihezi, 832003, China.
This study optimized the vibration separation trajectory for Hippophae rhamnoides (seabuckthorn) fruit harvesting using an improved Particle Swarm Optimization (I-PSO) algorithm. The new method significantly reduced harvesting time and increased fruit retrieval success rates.
Area of Science:
- Robotics
- Agricultural Engineering
- Optimization Algorithms
Background:
- Space manipulators require precise trajectory planning for tasks like fruit harvesting.
- Optimizing vibration-assisted separation is crucial for efficiency and minimizing fruit damage.
- Existing methods may lack the speed and accuracy needed for dynamic space environments.
Purpose of the Study:
- To develop an optimal time planning strategy for the vibration separation trajectory of Hippophae rhamnhamnoides fruit using space manipulators.
- To improve the efficiency and success rate of fruit harvesting in space environments.
- To validate the effectiveness of an improved Particle Swarm Optimization (I-PSO) algorithm for this specific application.
Main Methods:
- Analysis of robotic arm joint motion with range and speed limitations.
- Implementation of a 3-5-3 polynomial interpolation technique.
- Proposal and application of an improved Particle Swarm Optimization (I-PSO) algorithm featuring adaptive inertia weight and asynchronous learning factor.
Main Results:
- The I-PSO algorithm ensured continuity in joint acceleration and velocity.
- The optimal vibration trajectory time was determined to be 0.5365 seconds, a 24.5% reduction compared to the system's planned time of 0.7102 seconds.
- Orthogonal experiments demonstrated an average fruit drop rate of 96.19%, indicating high harvesting success.
Conclusions:
- The I-PSO algorithm is a valid and reliable method for the optimal time planning of vibration separation trajectories for seabuckthorn fruit.
- The proposed method significantly enhances harvesting speed and efficiency for space manipulator applications.
- This research contributes to the advancement of automated harvesting technologies in extraterrestrial environments.
