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Study of High-speed Auto-sorting System for Food Production

YAN Zu-gen1,2,WANG Li-quan2,SUN Zhi-hui1,BU Chi-wu1(1.Harbin University of Commerce,Harbin 150028,China;2.Harbin Engineering University,Harbin 150001,China)  
To improve the practical situation of food classification and sorting in our country,a high-speed auto-sorting system was constructed based on Delta parallel mechanism and machine vision technology.A simplified kinematics model of Delta mechanism was proposed and the direct and inverse kinematics problems were solved by adoption of the spatial geometry and vector algebra method.Compared with other methods,the method proposed is simple and illustrative,and multiple solution selection problems are avoided.
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