Conceptual design and analysis of the 2T1R mechanism for a cooking robot

Li, Bing; Yuan, Chen; Deng, Zongquan; Xu, Wenfu

doi:10.1016/j.robot.2010.11.001

Cited by 15 publications

(4 citation statements)

References 11 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…The total 1033 scientific articles found, excluding duplicates, were inspected to keep only studies on a novel machine/system (i) intended to automate physical actions in FS, and (ii) tested in a FS-like realistic scenario. Only 6 studies remained, on waiter robots [69,70,71,72] or Chinese food cooking machines [73,74]. 6 Survey available at https://www.smartsurvey.co.uk/s/NL4S7/.…”

Section: A Search Protocolmentioning

confidence: 99%

See 1 more Smart Citation

Towards Foodservice Robotics: A Taxonomy of Actions of Foodservice Workers and a Critical Review of Supportive Technology

Pereira

Bozzato

Dario

et al. 2022

IEEE Trans. Automat. Sci. Eng.

View full text Add to dashboard Cite

Foodservice workers perform several burdensome, tedious, and unsafe tasks that risk their health and well-being. This could be mitigated or even more avoided by using autonomouslyactuated machines. Therefore, this article aims to build the foundation to support the development of a new field of robotics research dedicated to foodservice and with a human/workercentered framework. As so, we introduce a two-level taxonomy of basic actions that compose the physical tasks of foodservice workers; it can guide future studies to design bio-inspired control models for foodservice robots. Actions are clustered in 16 categories according to their purpose and to the handled food. Furthermore, authors make a critical review of single-action equipment (SAE) and advanced equipment (AE) currently available for foodservice, which allowed us to identify opportunities for research. As a result, authors found some categories of actions rarely automated, aimed at i) separating solid-solid food parts, ii) moving food between workstations or independent appliances in the kitchen, iii) introducing food into another solid food or recipient, and iv) other specific actions, e.g. sewing food. In addition, authors discuss the applicability of collaborative robotics and human-robot collaboration to different contexts in foodservice, and show how artificial intelligence is improving the capabilities of SAE and AE and what else it could improve in this context. Note to practitioners -This paper was motivated by a criticalneed in foodservice: the ability to produce consistent and highquality meals ad-hoc, without overloading the workers or harming their health. Robotic and autonomous systems are promising technologies to solve this. However, there is not a unified framework in robotics research focused on the professional foodservice environment. This paper provides two tools for researchers and engineers in this field: (i) a taxonomy of basic actions that foodservice workers perform during their physical tasks; and (ii) a systematic review of mechatronic systems being developed or already in use in foodservice. The taxonomy can be immediately useful to divide research and development by the classes of actions. In addition, we found specific categories of actions that have been rarely automated so far and need further investigation. The results of our review can be readily applied in industry, too: presently, most equipment is a custom-built machine with limited adaptiveness; when systems include industrial robots, cobots are being preferred; the implementation of collaborative operations between humans and robots is not common yet and its applicability may be suitable only for certain contexts; finally, we identify scientific publications introducing

show abstract

Section: A Search Protocolmentioning

confidence: 99%

“…Automatic stirring system for woks [74] Built-in (on a wok at a stove) 2T1R f parallel manipulator with a 1-DoF linear feed mechanism connected to a wok ( 5) • Bulky and heavy, even for the smaller tabletop models (32 kg) [295].…”

Section: Purpose Actions Manual Utensilsmentioning

confidence: 99%

Towards Foodservice Robotics: A Taxonomy of Actions of Foodservice Workers and a Critical Review of Supportive Technology

Pereira

Bozzato

Dario

et al. 2022

IEEE Trans. Automat. Sci. Eng.

View full text Add to dashboard Cite

show abstract

“…For purpose of replacing the chef's cooking process motions by using the intelligent cooking equipment, we proposed a cooking robot including a pan mechanism, as shown in Fig. 1 [29, 30]. It consists of a moving platform and a 2-DOF pan mechanism.…”

Section: An Illustrative Examplementioning

confidence: 99%

A Piecewise Acceleration-Optimal and Smooth-Jerk Trajectory Planning Method for Robot Manipulator along a Predefined Path

Chen

2011

International Journal of Advanced Robotic Systems

Self Cite

View full text Add to dashboard Cite

This paper proposes a piecewise acceleration-optimal and smooth-jerk trajectory planning method of robot manipulator. The optimal objective function is given by the weighted sum of two terms having opposite effects: the maximal acceleration and the minimal jerk. Some computing techniques are proposed to determine the optimal solution. These techniques take both the time intervals between two interpolation points and the control points of B-spline function as optimal variables, redefine the kinematic constraints as the constraints of optimal variables, and reformulate the objective function in matrix form. The feasibility of the optimal method is illustrated by simulation and experimental results with pan mechanism for cooking robot.

show abstract

“…Qu et al [8] proposed a decoupled PM synthesis method based on Lie group and screw theory, and obtained a new fully decoupled 2T1R PM in space and plane. Li et al [9] designed a cooking robot using a 2T1R configuration and analyzed its kinematics, including direct and inverse position analysis, velocity analysis, constant direction workspace, and total workspace analysis. Ding et al [10] developed a new 2T1R PM based on the theory of POC and analyzed its kinematics.…”

Section: Introductionmentioning

confidence: 99%

A New 3-DOF 2T1R Parallel Mechanism: Topology Design and Kinematics

Huiping,

Du,

Chablat

et al. 2023

Volume 8: 47th Mechanisms and Robotics Conference (MR)

View full text Add to dashboard Cite

This article presents a new three-degree-of-freedom (3-DOF) parallel mechanism (PM) with two translations and one rotation (2T1R), designed based on the topological design theory of the parallel mechanism using position and orientation characteristics (POC). The PM is primarily intended for use in package sorting and delivery. The mobile platform of the PM moves along a translation axis, picks up objects from a conveyor belt, and tilts them to either side of the axis. We first calculate the PM’s topological characteristics, such as the degree of freedom (DOF) and the degree of coupling, and provide its topological analytical formula to represent the topological information of the PM. Next, we solve the direct and inverse kinematic models based on the kinematic modelling principle using the topological features. The models are purely analytic and are broken down into a series of quadratic equations, making them suitable for use in an industrial robot. We also study the singular configurations to identify the serial and parallel singularities. Using the decoupling properties, we size the mechanism to address the package sorting and depositing problem using an algebraic approach. To determine the smallest segment lengths, we use a cylindrical algebraic decomposition to solve a system with inequalities.

show abstract

Conceptual design and analysis of the 2T1R mechanism for a cooking robot

Cited by 15 publications

References 11 publications

Towards Foodservice Robotics: A Taxonomy of Actions of Foodservice Workers and a Critical Review of Supportive Technology

Towards Foodservice Robotics: A Taxonomy of Actions of Foodservice Workers and a Critical Review of Supportive Technology

A Piecewise Acceleration-Optimal and Smooth-Jerk Trajectory Planning Method for Robot Manipulator along a Predefined Path

A New 3-DOF 2T1R Parallel Mechanism: Topology Design and Kinematics

Contact Info

Product

Resources

About