Issue 3 (June)

With the in-depth study of intestinal flora, it is found that the changes of its structure and function are closely related to the occurrence of diseases.Edible fungi are natural resources, and polysaccharides are the main active components. The research found that most of the mushroom polysaccharides want to be used by the human body, they need to be fermented by the intestinal flora first. In this paper, we summarize the research on the improvement of host capacity of mushroom polysaccharides in recent years, so that we can have a deeper understanding of the interaction between mushroom polysaccharides and intestinal flora.

In this paper, for the joint angle optimization problem of six-degree-of-freedom robotic arm, a path optimization method based on multi-objective genetic algorithm is proposed to enhance the robotic arm motion performance with the goal of minimizing the end error and energy consumption. Firstly, a forward kinematic model of the robotic arm is constructed based on the Denavit-Hartenberg (D-H) parameters, and the modeling and visualization in the zero-position state is realized through the MATLAB Robotics Toolbox, and the coordinates of the target point (1500mm, 1200mm, 200mm) are set. Then, the dual-objective optimization model including Euclidean distance of end position and motion energy consumption is established by combining the parameters of joint inertia (0.2-0.6 kg-m²) and average angular velocity (1.0-3.0 rad/s), and the non-dominated sorting genetic algorithm II (NSGA-II) is used to solve the Pareto optimal solution set. The optimization results show that the end error is as low as 0.0488 mm and the total energy consumption is reduced to 23.9282 J under the optimal configuration that takes into account both accuracy and energy consumption, which verifies the effectiveness of the method in robotic arm motion control. The research results provide theoretical reference and technical support for the optimization of robotic arm paths in industrial automation and precision operation.