Design and feasibility tests of multi-functional gripper for handling variable shape of food products

Sam, Rosidah; Nefti, Samia

doi:10.1109/icsmc.2010.5642431

Cited by 17 publications

(14 citation statements)

References 3 publications

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“…The s a slightly higher air velocity pper plates. However, 8 ribs air velocity across the gripper plates have higher lifting force late [8,9,10].…”

Section: Lifting Forcementioning

confidence: 97%

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A Bernoulli principle based flexible handling device for automation of food manufacturing processes

Sam

Buniyamin

2012

2012 International Conference on Control, Automation and Information Sciences (ICCAIS)

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The application of automation for handling of non-rigid or semi rigid food products are limited due to the lack of a suitable or appropriate gripper. Most of the currently existing grippers are not suitable for handling food products in manufacturing processes due to the characteristics or texture of food which are often delicate, easily marked or bruised, adhesive and slippery.In this paper, a flexible, multi-functional gripper for handling variable size, shape and weight of unpacked food products is proposed and discussed. The prototype gripper operates based on Bernoulli principle of generating a highspeed flow between the gripper plate and the product surface thereby creating a vacuum that is used to lift and subsequently move the product. The basic working principle of the handling device together with the experimental results of the feasibility of the proposed device is presented. The experimental results suggest that the Bernoulli principle based handling device can be used to lift food of different texture and shape. However the device faces difficulty in lifting food with smooth surfaces.

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“…The s a slightly higher air velocity pper plates. However, 8 ribs air velocity across the gripper plates have higher lifting force late [8,9,10].…”

Section: Lifting Forcementioning

confidence: 97%

“…As a result, the lifting force generates by the gripper can be calculated using equation (10). The experimental results on the lifting force and the theoretical force can be used to make a comparison between the practical and theoretical results.…”

Section: B Force Generatedmentioning

confidence: 99%

A Bernoulli principle based flexible handling device for automation of food manufacturing processes

Sam

Buniyamin

2012

2012 International Conference on Control, Automation and Information Sciences (ICCAIS)

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“…However, it is only valid for light products, the air has to be filtered, it creates turbulences and has a dehydrating effect (Davis et al, 2008). Petterson et al (2010a) and Sam and Nefti (2010) managed to a Bernoulli gripper that can handle some 3D shapes of fresh fruit and vegetables such as grapes, cherry tomatoes, apples, strawberries, raspberries etc.…”

Section: Manipulation Strategies Strategies Based On Airmentioning

confidence: 99%

Review. Technologies for robot grippers in pick and place operations for fresh fruits and vegetables

Blanes

Mellado

Ortíz

et al. 1970

Span. j. agric. res.

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Robotics has been introduced in industry to replace humans in arduous and repetitive tasks, to reduce labour costs and to ensure consistent quality control of the process. Nowadays robots are cheaper, can work in hostile and dirty environments and they are able to manipulate products at high speed. High speed and reliability and low robot gripper costs are necessary for a profitable pick and place (P&P) process. However, current grippers are not able to handle these products properly because they have uneven shapes, are flexible and irregular, have different textures and are very sensitive to being damaged. This review brings together the requirements and phases used in the process of manipulation, summarises and analyses of the existing, potential and emerging techniques and their possibilities for the manipulation of fresh horticultural products from a detailed study of their characteristics. It considers the difficulties and the lack of engineers to conceive of and implement solutions. Contact grippers with underactuated mechanism and suction cups could be a promising approach for the manipulation of fresh fruit and vegetables. Ongoing study is still necessary on the characteristics and handling requirements of fresh fruit and vegetables in order to design grippers which are suitable for correct manipulation, at high speed, in profitable P&P processes for industrial applications.Additional key words: food manipulation; horticulture grasp; postharvest science and technology; robotic product handling. ResumenRevisión. Tecnologías en garras robotizadas para operaciones de coger y dejar productos hortofrutícolas frescos La robótica ha sido introducida en la industria para reemplazar a los humanos en tareas arduas y repetitivas, reducir mano de obra y para asegurar una calidad constante de los procesos. Actualmente los robos son más baratos, capaces de manipular productos a alta velocidad y de trabajar en ambientes hostiles. Por tanto, los robots pueden trabajar en operaciones de "coger y dejar" (pick & place, P&P) con frutas y hortalizas frescas. Para un proceso rentable de P&P, son necesarias una alta velocidad y fiabilidad, así como un bajo coste de los sistemas de agarre. Este artículo de revisión recopila las necesidades y fases empleadas en el proceso de manipulación, reuniendo y analizando las técnicas existentes, potenciales y emergentes y sus posibilidades de aplicación para la manipulación de productos hortofrutícolas frescos a partir del estudio detallado de sus características. Considera las dificultades y la falta de ingenieros para concebir e implementar soluciones. Los autores proponen las alternativas más prometedoras para acometer este difícil problema y consideran la necesidad de seguir estudiando las características de frutas y vegetales frescos y las necesidades de manipulación. Las garras de contacto con mecanismos infra-actuados y ventosas o agarrar el producto sin contacto pueden ser las alternativas más prometedoras para manipular frutas y vegetales frescos. Es necesario continuar e...

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“…The viscoelasticity is not only the important indicator to evaluate the quality of fruit and vegetable but also the required mechanical parameter to prevent the mechanical damage and sliding of fruit and vegetable. [4][5][6] The viscoelastic parameters can be used to analyze the deformation law of fruit and vegetable, which can assist to optimize the grasping strategy through setting the operating parameters of gripper such as grasping speed and operation time, thus helping robot complete the stable and fast grasping operation without damaging objects.…”

Section: Introductionmentioning

confidence: 99%

An optimum strategy for robotic tomato grasping based on real-time viscoelastic parameters estimation

Tao

Zhou

Wang

et al. 2017

International Journal of Advanced Robotic Systems

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It is a challenging task to achieve rapid and stable grasping of fruit and vegetable without damages for the agricultural robot. From the point of view of which most of fruits and vegetables are viscoelastic material, the viscoelastic characteristic of tomato was analyzed based on Burgers model in this article to provide a reference for the robotic grasping. First, the realtime viscoelastic parameters estimation model based on back-propagation neural network was established. The 3-11-4 network structure was applied, where the grasping force, displacement, and time were input to the model to estimate four viscoelastic parameters. The relative error was less than 15% at the 0.2-s estimation and correlation coefficient of fitting could reach to 0.99. Then, the expression of plastic deformation was derived by analyzing the dynamic characteristic of tomato based on Burgers model and Gripper's model during grasping. The minimum plastic deformation was taken as the condition to optimize the grasping speed and operation time. Finally, the result of simulation and experiment showed the feasibility of the method proposed in this article. This research can achieve the goal of reducing the grasping time of robots without damaging the fruit and provide a reference for robots grasping process optimization.

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Design and feasibility tests of multi-functional gripper for handling variable shape of food products

Cited by 17 publications

References 3 publications

A Bernoulli principle based flexible handling device for automation of food manufacturing processes

A Bernoulli principle based flexible handling device for automation of food manufacturing processes

Review. Technologies for robot grippers in pick and place operations for fresh fruits and vegetables

An optimum strategy for robotic tomato grasping based on real-time viscoelastic parameters estimation

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