SENSORLESS PEELING ROBOT BASED ON VARIABLE CONFIGURATION CONSTRAINTS FOR PICKLED MUSTARD TUBERS

Disclosed is a sensorless peeling robot based on variable configuration constraints for pickled mustard tubers. The present invention includes a distribution control data center, a string measuring and curve obtaining structure and an adjustable string peeling structure. According to the present invention, with the string measuring and curve obtaining structure, a device cuts grooves on a surface of a rotating pickled mustard tuber conveniently, and a corresponding force curve of the surface of the pickled mustard tuber is formed according to different string densities and cutting forces of a cutter, such that positions having strings to be removed on the surface of the pickled mustard tuber are conveniently determined, and processing convenience is improved; and with the adjustable string peeling structure, the device completes continuous positioning and adjustable, adaptive and convenient string peeling of the pickled mustard tuber, thereby greatly improving convenience and processing efficiency of string peeling.