Design And Research Of Bumpy Pot Mechanism With Two Dof In Cooking Robot

At present,there is apparent deviation between the movement of pot-bumping mechanisms in cooking robot and the cook's actual bumping movement,and this deviation makes dish could hardly be stirred properly.To solve this problem,a model of a double-motor-driven,crank-based rocker is proposed,which is based on the actual curve of the pot bumped by the professional cook,aimed on fitting the movement of cook's pot-bumping movement and having proper kinematic and dynamic characteristics.This mechanism uses its rocker to imitate the movement of human's big arm when bumping,uses its rocking beam to imitate the movement of human's forearm,two parts cooperate together to make the pot bumping along the ideal curve with ideal variable speed.Basic theory,dimension design as well as initial trace planning is introduced.Then the physical model including leaving-pot model,early-leaving model and fast-leaving model which gives theoretical value or quantitative restriction for certain parameters is introduced.Then a series of parameters of the mechanism need to be optimized,and sequence for testing parameter influences result relatively strongly in this case.So an index call SCD,which could determine this sequence is proposed here,it includes Sensitivity,Constancy and Deviation value of each parameter.Also,the formula to calculate SCD is derived,which shows that the smaller SCD is,the earlier the parameter should be optimized by line search.By using SCD method,adjusting sequence of the parameters in pot-bumping mechanism is determined,and parameters are optimized.Then,mechanical structure is designed by the optimized dimensional parameters,dynamics calculation and intensity of delicate parts is checked by the optimized kinematic parameters.Then the entity of the mechanism is realized after design of electronic control,etc.At last,for the key part of pot trajectory,comparison between the designed mechanism and the cook is drawn.Also,comparison between movements of designed mechanism and the cook is drawn.The comparison shows the accordance,which manifests the excellent effect of this mechanism.