End motion control strategy based on fermented grains

Abstract:
Bulk materials such as fermented grains have loose physical properties, and they will be scattered during the grasping process. In order to overcome the scattering phenomenon in the process of grabbing the fermented grains, a rotating gripping end is designed, which can realize the low scattering and grabbing of the fermented grains. In the process of grasping, turning to the end of different angles by rotating at different speeds will produce different forces on the fermented grains, and excessive force will cause damage to the fermented grains. Aiming at the phenomenon that the fermented grains are easily damaged when the force is large, the end motion control strategy is proposed. By analyzing the force of the fermented grains in different states, the optimal rotation speed function of the end is obtained. Control the end to work at the optimal rotation speed, which can reduce the total force value of the fermented grains while ensuring the efficiency of the grasping work, thereby reducing the damage to the fermented grains during the grasping process.