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Study on Optimization of Grasping and Releasing Strategy of Delta Robot Based on Midline Selection Algorithm
Abstract
Aiming at the common grasping and releasing efficiency problems of delta robots in practical production, this paper optimizes the algorithm according to the characteristics of the end effector of parallel robots, and puts forward an innovative optimization strategy. Processing the target workpiece obtained from the camera using Visual Studio to obtain the coordinates of the workpiece center position in the pixel coordinate system and proposing an optimization algorithm for selecting the centerline based on the maximum interval algorithm. Obtaining the centerline position through optimization algorithms, the robot's pick-and-place path is planned accordingly, and the centerline selection algorithm is validated using MATLAB. The results showed that compared to traditional single-handed grabbing and dual-handed grabbing, the optimized grasping and releasing method based on this algorithm can increase efficiency to 80 per minute, greatly improving the efficiency of the robot's grasping and releasing, proving the algorithm's high practicality and speed.
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