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In this work, we used the smooth particle hydrodynamics and finite element coupling method for a node\u2010to\u2010surface penalty function contact to characterize the contact forces between non\u2010Newtonian fluid food and solid foods. The shear rheological properties and density of non\u2010Newtonian fluid food, including xanthan gum (XG) and guar gum (GG), were investigated by a viscometer and densitometer, respectively. The results showed that the shear viscosity of non\u2010Newtonian fluid food depends to some extent on the mass ratio of the thickening gums. We investigated the effects of the end\u2010effector with different fetching velocities and different inclination angles, and the nut root powder paste (NRPP) food with different ratios of XG and GG, on the fetching rate, stress\u2010strain, and motion behavior. The results showed that the stress increased with increasing\n                    <jats:italic>v<\/jats:italic>\n                    <jats:sub>1<\/jats:sub>\n                    and\n                    <jats:italic>w<\/jats:italic>\n                    ; however, the\n                    <jats:italic>v<\/jats:italic>\n                    <jats:sub>2<\/jats:sub>\n                    had less effect on the stress. The sparseness of the distribution of solid food was related to the\n                    <jats:italic>v<\/jats:italic>\n                    <jats:sub>1<\/jats:sub>\n                    and\n                    <jats:italic>w<\/jats:italic>\n                    , whereas it was less influenced by the\n                    <jats:italic>v<\/jats:italic>\n                    <jats:sub>2<\/jats:sub>\n                    . The distribution of solid food became denser in the\n                    <jats:italic>X<\/jats:italic>\n                    \u2013\n                    <jats:italic>Z<\/jats:italic>\n                    plane and sparser in the\n                    <jats:italic>X<\/jats:italic>\n                    \u2013\n                    <jats:italic>Y<\/jats:italic>\n                    plane with increasing inclination angle. The motion behavior of viscoelastic solid foods depended on the mass ratio of XG to GG dissolved in NRPP. The present work can provide a theoretical foundation for meal\u2010assisting robots and robots in the field of food engineering with the task of improving the food fetching rate.\n                  <\/jats:p>","DOI":"10.1111\/1750-3841.16581","type":"journal-article","created":{"date-parts":[[2023,5,1]],"date-time":"2023-05-01T10:10:06Z","timestamp":1682935806000},"page":"2536-2556","update-policy":"https:\/\/doi.org\/10.1002\/crossmark_policy","source":"Crossref","is-referenced-by-count":4,"title":["Contact forces and motion behavior of non\u2010Newtonian fluid\u2013solid food by coupled SPH\u2013FEM method"],"prefix":"10.1111","volume":"88","author":[{"ORCID":"https:\/\/orcid.org\/0000-0003-1549-4245","authenticated-orcid":false,"given":"Yuhe","family":"Fan","sequence":"first","affiliation":[{"name":"College of Mechanical and Electrical Engineering Harbin Engineering University  Harbin 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