中国菜肴烹饪机器人的仿人划散机构

Human-imitating Dispersing Mechanism for Automatic Chinese Cooking Robot

  • 摘要: 为使烹饪机器人具备高超的划散技艺,基于对人工划散的总结,提出了一种仿人划散机构.运用D-H法建立了该机构的坐标系,得出了其末端端点的轨迹方程和速度、加速度方程.通过仿真分析得知,该机构的末端端点在锅具中心处的运动速度快而在锅具边沿处的运动速度慢,其包络线能够迅速覆盖整个锅具壁面,且末端加速度呈较大范围的周期性波动,充分模拟了人工划散.比较实验证明,采用这种划散机构比人工方式具有更好的划散效果和更高的一致性.

     

    Abstract: In order to make the Chinese cooking robot grasp the skillful dispersing ability,a human-imitating dispersing mechanism is proposed based on analysis and summary of chefs' dispersing.Its coordinates systems are built with D-H method,and equations of endpoints' trajectory,velocity and acceleration are established.Simulations show that endpoints move fast at the center of the wok and slowly near the edge,their envelopes can cover almost the whole wok's inside surface very soon,and their accelerations periodically vibrate in a broader range.All these mean that the dispersing mechanism can fully imitate manual dispersing.Comparative experiments prove that this dispersing mechanism has a better dispersion effect and higher stability than a good chef.

     

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