Human-imitating Dispersing Mechanism for Automatic Chinese Cooking Robot

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.