基于SA-PSO算法采摘机械臂参数优化
Optimization of Picking Robot Arm Parameters Based on SA-PSO Algorithm

当前油茶果的采摘方式为人工采摘，采摘方式落后，采摘效率低，导致生产成本高，严重制约油茶产业的健康发展。为解决这一问题，实现油茶果机械化和自动化采摘，设计了一款振动式油茶果采摘机。油茶果采摘机工作过程中采摘机械臂的结构尺寸将会限制其工作的范围。为确保采摘机能高效率的采摘油茶果，对采摘机械臂进行参数优化，寻找最优参数。结合实地考察的结果，确定优化设计的变量为举升液压缸行程Sj、伸缩液压缸行程Ss、俯仰液压缸行程Sf，建立目标函数，确定约束条件。基于SA-PSO算法，对油茶果采摘机械臂进行结构参数优化，得到最优参数解：举升液压缸行程为Sj=154 mm，伸缩液压缸行程为Ss=320 mm，俯仰液压缸形成为Sf=166 mm，为采摘机的优化设计了提供了理论数据支持。
At present,the harvest of camellia is accomplished by artificial method with low efficiency and high cost,which seriously restricts the healthy development of the camellia industry.In order to solve this problem and realize the mechanization and automatic picking of camellia,a vibrating camellia picking machine was designed.Based on the fact that during the working process of the camellia picking machine,the structural size of the picking arm limits the scope of its work,an optimization was conducted on the parameters of picking arm to ensure that the picking machine could extract the oil tea fruit efficiently.Combined with the results of the field investigation,the variables of the optimized design were determined as the lifting hydraulic cylinder stroke Sj,the telescopic hydraulic cylinders stroke Ss,and the pitch hydraulic cylinder stroke Sf,and the objective function was established to determine the constraint condition.Based on the SA-PSO algorithm,the structural parameters of the camellia picking robot arm were optimized,and the optimal parameter solution was obtained:Sj=154 mm,Ss=320 mm,and Sf=166 mm.The optimized design of the picking machine would provide theoretical data support for the optimization of the machine