Design and analysis of the mechanical structure of multifunctional intelligent food vending machines

To address the low sorting efficiency of existing food vending machines, the single way of picking up food and the low success rate of picking up. By analysing the physical properties of typical foodstuffs in our canteens, the corresponding picking methods are proposed and statistically. Based on this, a structure with integrated end-effector is proposed to complete the design of the relevant mechanical structure of the food vending machine; the kinematic equations are established using the D-H method; the working space of the food vending machine is analysed in Matlab using the Monte Carlo method; the motion planning of the food vending machine is carried out and the kinematic simulation is performed by ADAMS software. The results show that the design dimensions and the kinematic planning are reasonable and meet the requirements for the working space and sorting operation of the food vending machine.