Numerical simulations of motion behaviors of pan mechanism in a cooking robot with granular cuisine

A discrete element method (DEM) model under a specific movement of wall is developed to simulate the motion behaviors of pan mechanism in a cooking robot with granular cuisine. Two performance indices describing the featured motion in Chinese cuisine are proposed to determine the main influential factors on motion behaviors. A series of simulation experiments is conducted under various conditions, and simulation results are presented to establish the relationship between the performance indices and the main influential factors. A few cuisine experiments are carried out to verify the effectiveness of these simulation results, which provide the theoretical basis and practical guideline for the design, optimization, and application of pan mechanism.