食品检测咀嚼机器人灵活性分析与运动仿真

为了解决目前食品检测中检测不准确，反馈速度慢，评价不客观等问题，设计了基于Stewart平台的咀嚼仿生机 器人；介绍了咀嚼仿生机器人的工作原理；推导了机构的雅克比矩阵；分析了机构在中位时的局部灵活性；建立了仿真咀 嚼平台的虚拟样机模型；模拟了下颌简单的张合运动。仿真结果表明驱动杆的各种物理量变化曲线与人类真实咀嚼运 动比较吻合，机构的设计合理可靠。该机构能准确、快速、客观地实现食品的检测。

Chewing Food Testing Robot for Flexibility Analysis and Motion Simulation

In order to resolve the problems of detecting inaccuracy in current food testing, slow feedback, non-objective evaluation and so on. the chewing bionic robot was designed based on Stewart platform. The working principle of the chewing bionic robot was introduced. The agency Jacobi matrix was derived. The organization of local flexibility in the neutral position was analyzed. The virtual prototype simulation chew platform was established. and the simple mandibular movement was simulated. The results show that the drive rod of various physical quantities curves are consistent with the real chewing movement of human. and the institutional design is reasonable and reliable. The robot can accurately and quickly achieve the objective of food testing.