中文摘要：

介绍了烹饪机器人翻锅运动最优化设计,用于锅具运动中的动作调节。首先介绍了锅具运动机构及翻锅实现机理,其次进行了锅具物料质量点m的运动学和动力学分析。建立模型,得出了锅具机构翻锅运动最优化实现方法,解决了烹饪机器人复现厨师特定烹饪动作的问题,实验表明,该优化方法能够完成烹饪工艺中复杂的大翻、小翻,满足了烹饪机器人锅具运动的要求。

英文摘要：

A comprehensive introduction to a kind of optimum design for turning over motion of cooking robot,it is used to adjust the motion parameter of wok.Firstly,the paper introduces the mechanism of wok motion and realizing principle of wok＇s turning over.Secondly,kinematic and kinetic analysis for mass point m is accomplished and modeled.Thirdly,the optimum realized method of wok＇s turning over is obtained for the wok motion components.It solves the problem that the cooking robot simulate the special cooking motion made by chef.Great deals of experiments show that this method can accomplish the complex cooking motion such as great turning over and little turning over etc.,and satisfy the requirements of wok motion of cooking robot.