Dynamic Modeling and Performance Analysis of a 3-DOF Pan Mechanism for a Cooking Robot#

摘要

This paper deals with the dynamic modeling and performance analysis of a 3-DOF pan mechanism for a cooking robot. The distinctive features of the cooking process of Chinese food are creatively improved through research into the cooking processes of the eight major schools of Chinese cuisine. A general-purpose dynamic modeling method based on the object-oriented concept is presented. The method provides more flexibility for handling the planar mechanism than the conventional methods provide. A series of kinematic and dynamic global performance indices with the homogeneous physical units is proposed. Then, these performance indices are applied to predict the servomotor parameters. Finally, a numerical analysis is demonstrated to validate the dynamic modeling method and the global performance indices.