Design And Analysis Of 3UPS-RRPS Cooking Parallel Mechanism

Traditional cooking methods and techniques require a lot of labor and a lot of time,and it takes a lot of effort to automate the cooking of the company and the school cafeteria.At present,the cooking machines at home and abroad can achieve a single cooking action,and can't achieve the core techniques of Chinese cooking techniques such as frying and simmering.Therefore,it is especially important to design a cooking mechanism that can fulfill the cooking requirements of professional chefs.To maximize the cooking of the chef and to achieve the rotary pot,shake pot,turn pot and tilt movement,a 3UPS-RRPS cooking parallel mechanism is chosen.The configuration and topology analysis of the parallel mechanism,workspace analysis,static analysis,kinematic analysis and dynamic simulation,structural design and finite element analysis of the parallel mechanism,and structural optimization of the parts are carried out.The specific research content in the paper is as follows:(1)Configuration selection and topology analysis of parallel mechanism.The cooking mechanism is analyzed from the aspects of configuration choice,theoretical basis of topological analysis,selection of driving mechanism of mechanism,and calculation of mechanism coupling degree.(2)3UPS-RRPS cooking parallel mechanism workspace analysis.It includes fixed-position workspace analysis,fixed-pose workspace analysis,fixed-trajectory workspace analysis,and workspace analysis of median height variation.(3)3UPS-RRPS cooking parallel mechanism static analysis.Using the vector method,the force and moment balance equations of the UPS branch,the RRPS branch and the moving platform are respectively established by disassembling the parallel mechanism.(4)3UPS-RRPS cooking parallel mechanism kinematic analysis and dynamic simulation.Kinematic analysis of parallel mechanisms includes positional inverse,velocity analysis,and acceleration analysis.The dynamic simulation is based on the solidworks-motion software,which simulates the force and torque of each drive of the rotary pan,the pan,the pan and the tilting motion considering the inertial force and the moment of inertia.(5)3UPS-RRPS cooking parallel mechanism structure design and finite element analysis.3UPS-RRPS cooking parallel mechanism structure design includes UPS branch chain structure design,RRPS branch chain structure design,dynamic platform and fixed platform structure design.The finite element analysis of the parallel mechanism includes mechanism stiffness strength analysis and modal analysis.(6)The optimization of the part structure of the 3UPS-RRPS parallel mechanism.The lower platform and the bracket is optimized.The optimization method of the weighting method is proposed,and the dynamic platform is optimized to achieve the purpose of light weighting.Multi-objective optimization design of the fixed platform bracket is performed to find the optimal size parameters.