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Trajectory Synthesis and Optimization Design of an Unmanned Five-Bar Vegetable Factory Packing Machine Based on NSGA-II and Grey Relation Analysis

Author

Listed:
  • Lei Zhang

    (School of Mechanical Engineering, Zhejiang Sci-Tech University, Hangzhou 310018, China
    Key Laboratory of Transplanting Equipment and Technology of Zhejiang Province, Hangzhou 310018, China)

  • Yang Liu

    (School of Mechanical Engineering, Zhejiang Sci-Tech University, Hangzhou 310018, China)

  • Jianneng Chen

    (School of Mechanical Engineering, Zhejiang Sci-Tech University, Hangzhou 310018, China
    Key Laboratory of Transplanting Equipment and Technology of Zhejiang Province, Hangzhou 310018, China)

  • Heng Zhou

    (School of Mechanical Engineering, Zhejiang Sci-Tech University, Hangzhou 310018, China)

  • Yunsheng Jiang

    (School of Mechanical Engineering, Zhejiang Sci-Tech University, Hangzhou 310018, China)

  • Junhua Tong

    (School of Mechanical Engineering, Zhejiang Sci-Tech University, Hangzhou 310018, China
    Key Laboratory of Transplanting Equipment and Technology of Zhejiang Province, Hangzhou 310018, China)

  • Lianlian Wu

    (College of philology, Moscow State Pedagogical University, Moscow 119991, Russia)

Abstract

To address the problems of the complex structure and single packing trajectory of a packing machine, a hybrid-driven, five-bar packing machine for same-point pickup and different points of release in unmanned plant factories was designed, and a GRA-C method based on grey correlation analysis and CRITIC weighting for the quadratic optimization of Pareto solutions was proposed. According to the agronomic requirements, the original track of the packing machine was designed. The trajectory synthesis of the packing mechanism was completed based on the NSGA-Ⅱ multi-objective optimization algorithm. To reduce the overall size of the five-bar mechanism and to ensure its good motion performance, an optimization model for trajectory synthesis was established, and the optimal solution was obtained via the quadratic optimization of the Pareto front solution. To further improve the motion performance of the mechanism, the angular displacement curve at the secondary trajectory points was fitted. Through a comparative analysis with the solutions of three special points in the Pareto front solution set, it was found that the standard deviation of the angular velocity and the standard deviation of the angular acceleration after the quadratic optimization were 26.07% and 24.42% lower than the average values of the other three groups of solutions, respectively. The final optimization results were used to design the vegetable packaging machine, and the trajectory was found to be in good agreement with the expected trajectory, with a root mean square error of only 0.74.

Suggested Citation

  • Lei Zhang & Yang Liu & Jianneng Chen & Heng Zhou & Yunsheng Jiang & Junhua Tong & Lianlian Wu, 2023. "Trajectory Synthesis and Optimization Design of an Unmanned Five-Bar Vegetable Factory Packing Machine Based on NSGA-II and Grey Relation Analysis," Agriculture, MDPI, vol. 13(7), pages 1-21, July.
    • Handle: RePEc:gam:jagris:v:13:y:2023:i:7:p:1366-:d:1190245
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    References listed on IDEAS

    as
    1. Zhanghao Qu & Peng Zhang & Yaohua Hu & Huanbo Yang & Taifeng Guo & Kaili Zhang & Junchang Zhang, 2023. "Optimal Design of Agricultural Mobile Robot Suspension System Based on NSGA-III and TOPSIS," Agriculture, MDPI, vol. 13(1), pages 1-20, January.
    2. Shuangyan Hu & Minjuan Hu & Wei Yan & Wenyi Zhang, 2022. "Design and Experiment of an Integrated Automatic Transplanting Mechanism for Picking and Planting Pepper Hole Tray Seedlings," Agriculture, MDPI, vol. 12(4), pages 1-14, April.
    3. Changyu Wang & Cheng Ma & Jinchuan Zhou, 2014. "A new class of exact penalty functions and penalty algorithms," Journal of Global Optimization, Springer, vol. 58(1), pages 51-73, January.
    4. Xin Jin & Bo Zhang & Hongbin Suo & Cheng Lin & Jiangtao Ji & Xiaolin Xie, 2023. "Design and Mechanical Analysis of a Cam-Linked Planetary Gear System Seedling Picking Mechanism," Agriculture, MDPI, vol. 13(4), pages 1-18, March.
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