新型商用炒菜机器人搅拌系统结构设计与轨迹分析  

Structural design and trajectory analysis of a new commercial cooking robot mixing system

作　　者：雷鸣[1] 管声启[1] 王杰 卢浩 LEI Ming;GUAN Shengqi;WANG Jie;LU Hao(School of Mechanical and Electrical Engineering, Xi′an Polytechnic University, Xi′an 710048, China)

机构地区：[1]西安工程大学机电工程学院

出　　处：《西安工程大学学报》2019年第6期660-665,共6页Journal of Xi’an Polytechnic University

基　　金：陕西省教育厅专项科研计划资助项目(16JK1337)

摘　　要：为实现仿人翻炒烹饪轨迹,设计了一种新型烹饪机器人搅拌系统结构。采用新型组合机构代替传统搅拌装置,开发了全新的翻炒烹饪轨迹,并实现了多种烹饪轨迹联合运行。利用运动学对烹饪机器人搅拌系统进行建模分析,得到了末端的轨迹和速度曲线;随后,采用MATLAB对模型进行了运动学仿真,并用SolidWorks对结构三维模型进行了轨迹仿真。实验结果证明,设计的烹饪机器人搅拌系统能够实现翻炒目标轨迹,并且运行平稳。同时,为以后的控制系统建立奠定良好的基础。In order to realize a cooking trajectory of human-like cooking,a structure of new cooking robot mixing system was designed.At the same time,a new combination mechanism was used to replace the traditional mixing device,a new stir-fry cooking trajectory was developed,and a variety of cooking trajectories were realized.Secondly,using the kinematics to model and analyze the cooking robot mixing system,the trajectory and velocity curve of the end part were obtained.Subsequently,the model was simulated with kinematics using MATLAB,and the trajectory simulation of the structural 3D model was carried out by SolidWorks.The experimental result shows that the cooking robot mixing system designed can achieve the target trajectory and run very smoothly.It lays a good foundation for the future control system.

关 键 词：烹饪机器人 机械结构 工作轨迹 运动学仿真 三维建模与仿真 

分 类 号：TH122[机械工程—机械设计及理论]