炒类烹饪机器人烹饪工艺动作模式与锅具机构方案创新设计

项目名称： 炒类烹饪机器人烹饪工艺动作模式与锅具机构方案创新设计

项目编号： No.60875060

项目类型： 面上项目

立项/批准年度： 2009

项目学科： 电工技术

项目作者： 李兵

作者单位： 哈尔滨工业大学

项目金额： 25万元

中文摘要： 伴随着人们对生活质量和饮食文化需求的不断提高，传统手工烹饪方式已经无法满足当今人们对菜肴品质等方面的需求，这使得烹饪机器人无疑将成为服务机器人最重要的成员之一。本项目旨在通过深入研究烹饪机器人技术，探索和掌握此类新型服务机器人的关键技术，实现对中国传统文化的继承和发展。本项目的主要研究内容包括：深入研究了中国八大菜系的烹饪技法，建立了中国菜肴烹饪工艺动作模式与机构自由度间的映射关系，并在此基础上综合出了满足烹饪工艺动作要求的多种新型的锅具运动并联机构；针对复杂烹饪工艺动作特点，创建了从总功能和顾客需求信息推理出不同组合机构的计算机辅助机构概念设计模型；对锅具运动机构的翻转动作进行了理论分析，提出了能定量评价机构翻转动作的翻转性能指标，建立了基于翻转性能指标的机构结构尺寸参数优化数学模型；针对机器人不同轨迹段内具有不同任务的特点，建立了机器人轨迹分段且加速度最优的轨迹优化数学模型；最后，研制了烹饪机器人锅具运动机构的实验装置,并通过实验验证了上述建模和分析的正确性。本项目的研究成果将为此类服务机器人的研究提供相关理论基础。

中文关键词： 烹饪机器人；锅具运动机构；计算机辅助机构概念设计；轨迹优化

英文摘要： Due to the increasing demand for life quality and diet culture, the traditional manual cooking has been unable to meet people's special requirements on food quality. In this case, cooking robot will undoubtedly become a novel service robot. The objective of this project is to systematically investigate some key technolgies of cooking robot, and make efforts to inherit and further develop Chinese traditional cuizine culture. The mapping relations between cooking process motion modes and DOFs of pan mechanism is built through in-depth study of cooking techniques for Chinese cuisines. And, on the basis of these featured motions, some kinds of novel parallel manipulators are proposed as pan mechanism. Based on the characteristics of the complex cooking process motions, a computer-aided mechanical conceptual design model from the ovrall function and customer requirements to general mechanism is proposed. The theoretical analyses of the key factors that have influences on the key cooking process motion are carried out, and two performance indices, which can give a quantitative evaluation of the key cooking process motion, are put forward. Based on the two performance indices, an optimal mathematical model of basic structural parameters for pan mechanism is established. A piecewise acceleration-optimal and smooth trajectory planning method based on different cooking tasks is developed to solve the issues of different applications at different trajectories. At last, a prototype of pan mechanism is developed and the experiments are carried out to verify the correctness of the developed models and methodologies. The research results will provide the theorotic basis for this kind of service robot.

英文关键词： cooking robot;pan mechanism; computer-aided mechanical conceptual design model; optimal trajectory planning