Analyzing the food texture during mastication is extremely important for the development of ingestible products. Chewing robots allow for an objective and repeatable in vitro assessment of the food texture and properties. The University of Auckland has developed a chewing robot that can mimic the movement of the molars during mastication and allows controllable molar grinding kinematics as well as a food repositioning function. The robot’s biomimetic oral cavity, however, lacks a salivary gland that releases saliva when needed, thus the existing cavity cannot accurately mimic the human oral processing. This thesis’ aim is to develop an improved version of the oral cavity that allows for saliva circulation during chewing and saliva temperature control to be integrated with the existing chewing robot.