基于改进NSGA-Ⅱ算法的五杆月饼装盒机构优化设计OA

To address the issues of high cost and large footprint of industrial robots in current mooncake production lines,an improved NSGA-Ⅱ algorithm was developed by using good point set initialization,incorporating multi-point crossover and mutation,and adding local search operators.This algorithm was applied to the multi-objective optimization design of a five-bar linkage mechanism,considering overall manipulability,minimum manipulability,and overall dimensions,aiming to replace multi-degree-of-freedom industrial robots for the mooncake packaging task.The results showed that compared to the NSGA-Ⅱalgorithm,the solution set obtained by the improved NSGA-Ⅱ algorithm(GMLNSGA-Ⅱ)exhibited a 3.5%increase in hypervolume and a 16.4%decrease in inverted generational distance,indicating higher diversity and quality of solutions.Compared to the pre-optimization design,the optimized five-bar mechanism demonstrated an increase in overall manipulability from 0.50 to 0.68,an increase in minimum manipulability from 0.002 to 0.190,and a reduction in overall dimensions from 475 mm to 445 mm.To achieve the same end-effector motion,it required lower angular velocity and angular acceleration of the driving links,exhibiting better kinematic performance.This research provides a basis for the design and optimization of five-bar mooncake packaging mechanisms.