韩敬虎,俞经虎.食品检测咀嚼机器人工作空间研究[J].轻工机械,2016,34(3): |
食品检测咀嚼机器人工作空间研究 |
Study of Chew Food Testing Robot Work Space |
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DOI:10.3969/j.issn.1005-2895.2016.03.001 |
中文关键词: 食品检测 咀嚼机器人 工作空间 MATLAB仿真 |
英文关键词:food testing bionic robot work space MATLAB simulation |
基金项目:国家自然科学基金项目:面向食品材料物性检测与评价的仿生咀嚼机器人研究( 51375209)。 |
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中文摘要: |
为了提高食品检测效率,改善食品检测精度,增加食品检测的客观性,文章介绍了一种基于6-UPS机构的咀嚼机器人,介绍了咀嚼机器人的结构原理,求解了机构的运动学逆解,分析了机构的工作空间影响因素,利用MATLAB编程求得机构在定姿态下的工作空间。空间轮廓图表明,该机构在定姿态下能到达人类全部真实咀嚼空间,机构设计可靠,能够模拟人类咀嚼行为对食品进行检测。 |
英文摘要: |
ln order to improve the efficiency of food testing, improve food testing precision. and increase the objectivity
of food testing, this paper introduces a kind of chewing robot based on 6-UPS mechanism, presenting the structure
principle of chewing robot, solving inverse kinematics of the mechanism, analyzing the factors that influence the work
space of the mechanism. With the help of the MATLAB programming, the work space under fixed position was
calculated. Space profile shows that the mechanism under fixed position can reach to all the real human chewing space.
The mechanism design is reliable and can process food testing by simulating human chewing on the food. |
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