Reverse Kinemics of Bionic 6-RSS Chewing Robot for Food Mechanical Properties Measuring

Abstract

A bionic chewing robot was designed to measure the mechanical properties of food, and the measuring mechanical properties of food include hardness, viscosity, elastic and chewiness. The bionic robot was composed of six mechanisms, each mechanism include there kinematic pairs, namely, revolute joint, sphere joint, sphere joint. This paper introduces the chewing robot mechanism aim to simulate the function of mandible of real mankind, and established the equation of reverse kinemics of chewing robot according to the structure of the chewing robot. Through the simulation module of NX, the equation of reverse kinemics of chewing robot was simulated.