Design and Optimization of a Prototype Automated Food Production Line: A Multi-Algorithm Approach

This paper presents the design, simulation, and construction of a prototype automated food preparation line, integrating mechanical, electrical, and electronic systems in a synchronized manner. The system utilizes two robotic arms to perform conveyor tasks, such as placing liquid and solid ingredients at designated locations. One robot, featuring four degrees of freedom, activates a pre-programmed sequence upon detecting an object via a presence sensor.To enable efficient automation, several algorithms are employed, including a delay-free servo movement algorithm, a general servo motor control algorithm, and an EEPROM memory-reading algorithm. The entire process is controlled by an ESP32 microcontroller, acting as a Programmable Logic Controller (PLC). Its dual-core architecture allows simultaneous control of the process and communication with a Supervisory Control And Data Acquisition (SCADA) system. Two methods for optimizing the movement of the robots were implemented: Partial Derivatives and Gradient Descent in an Evolutionary Algorithm, and Sequential Servo Position Control from external EEPROM. The latter proved significantly faster, reducing the total task time to 29.973 seconds, compared to 101.61 seconds with the first method—a ${7 0 \%}$ improvement. Data transmission is handled through three protocols: I2C, MODBUS, and infrared, chosen for their low cost and wide applicability in consumer electronics. This prototype demonstrates an efficient, low-cost solution for automating food production lines, with broader potential applications in industrial automation.