Underactuated Humanoid Peeling Approach for Pickled Mustard Tuber Based on Metamorphic Constraints

Area of Science:

• Agricultural Engineering
• Robotics
• Food Processing Technology

Background:

• Pickled mustard tuber (PMT), or *Brassica juncea* var. *tumida*, possesses a complex fibrous structure.
• Current PMT processing relies on manual labor due to the lack of automated peeling solutions.
• The intricate fiber network of PMT presents significant challenges for mechanical processing.

Purpose of the Study:

• To design and develop an underactuated humanoid robot for automated PMT peeling.
• To emulate the human 'insert-clamp-tear' peeling process using probabilistic statistical design.
• To optimize robot end-effector trajectory and peeling efficiency for PMT.

Main Methods:

• Developed a humanoid robot incorporating variable configuration constraints.
• Utilized probabilistic statistical design based on PMT morphological cluster analysis.
• Constructed and analyzed three distinct PMT peeling tool spectral profiles and modular mechanical properties.
• Created an ADAMS virtual prototype for simulation of the 'insert-clamp-tear' process.

Main Results:

• The robot achieved a meat loss rate of ≤15% across different PMT categories.
• Demonstrated a theoretical peeling rate of up to 15 pieces per minute.
• Attained an average residual fiber rate of approximately 2%.

Conclusions:

• The developed pickled mustard tuber peeling robot significantly enhances peeling efficiency.
• The system offers a viable solution for automated PMT processing with minimal product loss.
• This research provides a theoretical foundation for fully automated PMT peeling systems.