机械工程及自动化学院

毕业设计开题报告

微型机器人设计及实验研究

专 业 名称 机械工程
学 生 姓名 罗安

学号 7 52 5 07 14

指 导 教师 冯 林

2019 年 2 月

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 Contents
List of Figure..................................................................................................................................................3
ABSTRACT......................................................................................................................................................4
1. INTRODUCTION......................................................................................................................................5
1.1 Introduction to Study.....................................................................................................................5
1.1.1 Body ...................................................................................................................................... 5
1.1.2 Wires ..................................................................................................................................... 5
1.1.3 Sensor.................................................................................................................................... 5
2. LITERATURE WORK................................................................................................................................7
2.1 Types of Gripper............................................................................................................................7
2.1.1 Pneumatic soft grippers........................................................................................................ 7
2.1.2 Electrical soft grippers........................................................................................................... 8
2.1.3 Cable-driven soft grippers..................................................................................................... 8
3. RESEARCH WORK .................................................................................................................................. 9
3.1 Objectives...................................................................................................................................... 9
3.2 Research Methodology .................................................................................................................9
3.2.1 Designing Soft Actuator ......................................................................................................10
3.2.2 3D Printing ..........................................................................................................................10
3.2.3 Programming.......................................................................................................................10
3.2.4 Experiment and Results: .....................................................................................................10
3.2.5 Timeline...............................................................................................................................11

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 List of Figure

Figure 1 Smart Kitchen 3D model.................................................................................................. 7

Figure 2 Front and Back and side view of Storage Unit…………………………………………..7
Figure 3 Elements in IOT…………………………………………………………………………9
Figure 4 Research Methodology Block Diagram ..........................................................................11

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 ABSTRACT

Several cooking support systems have been studied to give users instructions based on the recipes
step-by-step, using multimedia contents. This systems usually disturb users cooking process
forcing them to provide information to the system in order to beneficial information. In this sense,
this systems are considered to be “system centric”. We propose a system called “Smart Kitchen”
considered to be in “user centric”, in which a user can cook normally without being conserved
about the system, Smart Kitchen can understand cooking processes, in other words, what the user
is doing. Here we discuss the design of the smart kitchen system and explain four essential modules
of storing food, cooking food material, adding required material and delivering the final cooked
product.

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 1. INTRODUCTION

1.1 Introduction to Study

Humans spend more time at home than any other environment which is intended to provide a
comfortable experience to relax, perform daily activities, socialize with family and friends, learn
and be entertained. It is increasingly used as an environment to maintain health and be empowered
especially with age.

Elderly people may suffer several physical and/or cognitive impairments which increase with the
passing of time. Old age affects sensing, information receiving capabilities, reduces speed and
increases timing of precise movements, etc. [1]. The ageing of our populations is a well-known
problem in developed countries. European Union population projections are alarming; the ratio of
people aged 65 years or over will increase from 17.1% to 30.0% in 2060 (from 84.6 million in
2008 to 151.5 million people in 2060) [2]. Similar figures are found in the USA, where elderly
people will represent 20.2% of the population in 2050, or in Japan, with 39.6% [3,4].

To sustain people independence in execution of kitchen activities, it is necessary to provide

technologies able to make the environment universally accessible and usable. This means that the
environment should be able to support, as much as possible, different users (i.e., normal people,
disabled people, elderly, children, etc.) in order to ensure to all of them the possibility to achieve
their goals, regardless of what are their physical or cognitive abilities. The achievement of this
object is a very big challenge. As a matter of fact, technology is day by day the tool to support and
ensure a better liveability including the kitchen activities, safety, comfort and well-being. In
particular, it is necessary to develop a system that allows to coordinate the appliances and kitchen
subsystems in order to optimize human machine and human environment interaction both from
physical and cognitive point of view. It should be able to support and provide the necessary
information according to the goal that user aims to achieve and support user’s skill in performing
such tasks.
In the last several years, the research on smart environments proposed new assistive systems that

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support and enhance the abilities of its occupants in executing domestic tasks. Most of these studies
focused often only on services provided of smart home and marginally consider the end user
preferences and applications. In particular, some solutions have been proposed that aim to support
the user during the meal preparation, or during appliances interaction or that aim to empower the
user about environmental energy consumption [5 ,6,7]

Hence the introduction of “Smart Kitchen is palpable. The project being currently introduced would
have the following properties.
Smart Kitchen component consists of:

1.1.1 Body
The outer body made up of aluminum (Al) alloy.

1.1.2 Wires
Rubber insulated Copper(Cu) wire.

1.1.3 Sensor
Pressure sensor in food storage chamber, Heat sensing sensors in cooking chamber.

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 Figure 1 Smart Kitchen 3D model

Top View Front View

Smart Kitchen Model- Side

View
Figure 2 Top, Back and side view of Soft Actuator
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 2. LITERATURE WORK

The 20th century saw an intense revolution in domestic technology, an insurrection which
concluded at the close of the century with the emergence of the previously unimaginable concept
of the “smart home”. At the opening of the 20th century most of the available domestic technology
would have been easily recognized and used by people from a hundred years earlier. By the end of
the 20th century, however, domestic technology had changed beyond recognition. The first major
impetus for change was the introduction of electricity into homes in the first quarter of the century.
This provided a new source of clean, convenient power for appliances and spurred the introduction
of novel equipment for the home. The second major impetus was the introduction of information
technology in the last quarter of the century. This opened up possibilities for exchanging
information between people, appliances, systems and networks in and beyond the home,
possibilities which are still being explored.

Eighteen months ago, the emergence of Internet of Things (IOT) was still considered with a certain
degree of skepticism. These days are gone. It has been defined as a dynamic global network
infrastructure with self-configuring capabilities based on standard and interoperable
communication protocols where physical and virtual “things” have identities, physical attributes
and virtual personalities, use intelligent interfaces and are seamlessly integrated into the
information network [8].
One of the sectors that most can benefit by the use of and IoT infrastructure is Ambient Assisted
Living (AAL) and e-health. When implementing an AAL, several features should be considered.
Sensors should be non-invasive systems and should be able to wirelessly communicate with the
rest of devices of the data network. Moreover, AAL systems should be able to act when they detect
any abnormal situation without the explicit request of a user AAL systems should be able to adapt
by their-self when abnormal situations happen [9].

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 Figure 3. Elements in IOT

2.Types Of Smart Kitchen

2.1.3 Cable-driven s

3. RESEARCH WORK

3.1 Objectives
Design Storage Compartment with conveyor belt.

Assemble food groups into different levels.

Add/Tranport food material to the central cooking pan.

Test Storage Compartment to be water and spill proof.

3.2 Research Methodology

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Figure 3 Research Methodology Block Diagram

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 3.2.1 Designing Storage Compartment
To design the food storage and transport part, I will use solidworks. A smart kitchen may have
several ways to be operated when on air but when it concerns to water and other flowing liquids
we need to consider the environmental effects on it. So design must be waterproof.

3.2.2 3D Printing
Once solidworks models are modeled and verified, they are exported to binary formats to be
readable by the 3D printer, DDmaker and ideamaker would be used for printing.

3.2.3 Programming
For movement: solidworks and abaqus. For heat: comsol and ANSYS.

3.2.4 Experiment and Results:

Experiments will be performed after successful designing and printing of the smart kitchen. The
final

The possible outcomes cannot be certain for the moment, as very few tests have been done with
smart kitchen’s to date. The expected outcomes I see are to achieve precise motion and develop a
storage unit which is adaptive to harsh conditions such as heat and water in currents. The safety
for such fragile objects will be made sure to avoid any damage which may harm the user or
the object tested.

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 3.2.5 Timeline

Weeks 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17
Opening
Proposal
Presentation &
report
Designing,
Printing &
Simulation
Implementation
Mid report &
presentation
Programing
Experiments
and results
Defense report
& presentation

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 REFRENCES

1. Rubén Blasco, Álvaro Marco, Roberto Casa, Diego CIrujano and Richard Picking. A Smart
Kitchen For Ambient Assisted Living ISSN 1424-8220.
2. Giannakouris, K. Ageing Characterises the Demographic Perspectives of the European
Societies. Eurostat, Statistics in focus 72/2008. Available online:
http://epp.eurostat.ec.europa.eu/cache/ITY_OFFPUB/KS-SF-08-072/EN/KS-SF-08-072
EN.PDF (accessed on 3 October 2013).
3. Resident Population Projections by Sex and Age: 2010 to 2050. Available online:
http://www.census.gov/ (accessed on 3 October 2013)
4. NIPSSR. Population Projections for Japan: 2001–2050. With Long-Range Population
Projections: 2051–2100; NIPSSR: Tokyo, Japan, 2002.
5. Cook, Diane; Das, Sajal (2005). Smart Environments: Technology, Protocols and Applications.
Wiley-Interscience
6. Xinguo, Y., Bin, X., Weimin, H., Boonfong, C., Junfeng, D., (2007). A framework of context-
aware object recognition for smart home. In: Proceedings of the 5th International Conference
on Smart Homes and Health Telematics, pp. 9–19.

7. M. Ficocelli and G. Nejat, “The design of an interactive assistive kitchen system”, Assistive
Technology Volume 24, Issue 4, pp. 246-258, 2012

8. Internet of Things: Converging Technologies for Smart Environments and Integrated

Ecosystems by Ovidiu Vermesan, Peter Friess.

9. Amine Rghioui , Sandra Sendra, Jaime Lloret , Abedlmajid Oumnad (2016) Internet of
Things for Measuring Human Activities in Ambient Assisted Living and e-Health , Vol. 8, No. 3
ISSN 1943-3581
10. Park Y L, Chen B R and Wood R J 2012 Design and fabrication of soft artificial skin using
embedded microchannels and liquid conductors IEEE Sensors Journal 12 2711-2718
11. Aidan Leitch, A SHORT HISTORY OF SOFT GRIPPERS, May 16, 2017

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12. Help from various mini projects from the web has been taken as well. The following
webpages were used:
www.google.com
www.wikipedia.com
www.youtube.com
www.softroboticstoolkit.com

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