Kinematics Research of Chewing Robot Based on Six-Axis Parallel Mechanism

Instruments widely used in food texture detection are different from human oral environment and chewing movement parameters, which results in inconsistent detection data and taste. Experts’ sensory evaluation of food also has the shortcomings of expensive, inefficient and difficult to standardize. The development and research of bionic chewing robots is regarded as a new direction to solve problems in this field. This paper presents the basic structure of a chewing robot based on six-axis parallel mechanism and establishes its kinematics model. By using the inverse kinematics method, the expressions of the position and velocity relationship between the prismatic pair driven by the motor and the moving platform were obtained through theoretical analysis. Referring to human chewing action, a set of moving platform trajectories were designed. At the same time, the displacement and velocity curves of each prismatic pair under the predetermined trajectory of the moving platform were obtained by kinematics simulation. This research will provide a basis for the motion control of chewing robots, and also contribute to the development of food texture inspection equipment.