目的 为解决食品包装过程中漏抓率、误抓率高及分拣困难等问题，以分拣抓取为研究对象，设计一种基于ADT8940A1运动控制器的食品分拣控制系统。方法 实际分拣过程中，待分拣的食品形状多样，分布杂乱，情况较为复杂，采用传统的控制方式一般较难满足要求。为了克服传统分拣方法出现的各种问题，采用并联机器人控制，以ADT8940A1运动控制器为核心，提出一种模糊神经网络的PID控制方法。结果 系统最大抓取速度达150次/min，漏抓率小于0.1%，误抓率小于0.05%，能够满足设计要求。结论 采用该控制方法设计的食品分拣系统抓取精度高，具有较为稳定可靠的工作状态，能够满足食品分拣和包装要求，具有较高的市场应用前景。

The work aims to design a food sorting control system based on ADT8940A1 with sorting and grabbing as the research object to solve the problems of high missing picking and wrong picking rate and difficult sorting. In the actual sorting process, the shape of the food to be sorted was diverse, the distribution was messy, and the situation was complex, so the traditional control method was generally difficult to meet the requirements. To overcome the problems of traditional sorting methods, a fuzzy neural network PID control method was proposed through parallel robot control with ADT8940A1motion controller as the core. The maximum grasping speed of the system was 150 times / min. The missing picking rate was less than 0.1% and the false picking rate was less than 0.05%. The design requirement was met. The test results show that the food sorting system designed by PID control has high precision and stable and reliable working state and can meet the requirements of food sorting and packaging, thus it has high market application prospect.