新型烹饪机器人锅具运动机构的设计及运动学仿真

Design and kinematics simulation for wok movement mechanism of a novel cooking robot

通过对人工烹饪过程中锅具运动功能的分析,设计出既能直线往复变速运动又能正反旋转运动的锅具运动机构,其复合运动能够实现直线晃、大小翻、倾斜倾覆、移锅等动作,并建立Pro/E模型。在对菜肴的受力和运动状态进行分析的基础上,利用ADAMS软件对机构进行参化建模和运动学仿真,得出锅具上点的运动曲线,并对关键的结构参数进行分析。结果发现曲柄的长度是影响菜肴运动状态的最重要的结构参数,这为后续的优化设计提供了参考依据。

Through the analysis of wok movement function on the process of cooking by chefs,a novel wok movement mechanism and Pro/e model were designed,which includes straight reciprocating motion and rotary motion,could rock in straight line,turned over at a different degree,incline or overturn and fire relieve.On the base of analyzing the force and motion state of cuisine,not only the parametric model and kinematics simulation of mechanism was complished making use of ADAMS,but also the key structural parameters and motion curves of points on the wok were obtained.At last it is found that the crank length is the most important parameter,which provides theoretical guidance for the follow-up optimal design.