This study investigated the effect of the angle between the blade and the inclined disc on particle trajectory correction during ejection from an organic fertilizer side-throwing device. Using the inclined disc device as the test subject, a blade-based coordinate system was established to model the complex relative particle motion under combined disc and blade inclination. Particle dynamics and blade forces were analyzed quadrantally, enabling the development of a mechanical model and the derivation of displacement equations. Numerical simulation, virtual simulation, and experimental testing yielded the following results: Under the current device parameters, the relative velocity between particles and the blade reaches its maximum when the angle between the blade and the inclined disc is 80°. Within the angle range from 65° to 85°, as the angle increases, the scattering angle of single-sided discs monotonically decreases, while that of dual-sided discs monotonously increases. At an angle of 65°, the trajectories of the dual-sided disc flows tend to converge. At 80°, the flow is at the critical point between convergence and divergence. The effective throwing distance first increases and then decreases, reaching a maximum at an angle of 80°. This study clarifies the relationship between the angle correction of blade–disc inclination and particle velocity and trajectory on the blade, providing a reliable mathematical model and simulation method for similar studies in the field of inclined disc centrifugal material ejection.

The research of a biomimetic robotic manipulator is based on the flexible characteristics of the human upper limb joint, and a biomimetic robotic elbow joint plays a very significant role in the kinematic control of the biomimetic robotic manipulator. Most robotic elbow joints encountered today have a common disadvantage of bad neutrality, low rotational capability, and poor biomimetics. To overcome some difficulties, this paper presents a novel biomimetic robotic elbow joint. The structural model of the elbow joint is described, and the position equation is solved. Secondly, the kinematic equation of the elbow joint is established, the kinematic decoupling performance evaluation index of the elbow joint is defined, the kinematic decoupling characteristics of the elbow joint are analyzed, and the kinematic decoupling performance map in the workspace is drawn. Thirdly, using the spatial model theory, the structural parameters of the elbow joint are optimized, the structural parameters are selected by the Monte Carlo method, and the novel biomimetic robotic elbow joint is designed. The analysis results showing the kinematic decoupling performance of the elbow joint are symmetrical and the kinematic decoupling performance decreases with the increase of the angle, and there is a good kinematic decoupling in the workspace of about 35% in the vicinity of the initial position. When the structural parameters of the elbow joint are Re1=90mm, Re2=70mm, and Re3=30mm, the elbow joint has a very good kinematic decoupling. This paper can lay a foundation for further analysis and research of the biomimetic robotic elbow joint.