Design of a magnetorheological robot gripper for handling of delicate food products with varying shapes

Pettersson, Anders; Davis, Steve; Gray, J.O.; Dodd, Tony J.; Ohlsson, Tomas

doi:10.1016/j.jfoodeng.2009.11.020

Cited by 231 publications

(102 citation statements)

References 11 publications

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“…An added feature was that this vacuum could be reversed, and capability of shooting objects out of the mold is demonstrated. A commercialized version of this design is now called the Versaball [142].…”

Section: Malleable Grippersmentioning

confidence: 99%

State of the Art Robotic Grippers and Applications

et al. 2016

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Abstract:In this paper, we present a recent survey on robotic grippers. In many cases, modern grippers outperform their older counterparts which are now stronger, more repeatable, and faster. Technological advancements have also attributed to the development of gripping various objects. This includes soft fabrics, microelectromechanical systems, and synthetic sheets. In addition, newer materials are being used to improve functionality of grippers, which include piezoelectric, shape memory alloys, smart fluids, carbon fiber, and many more. This paper covers the very first robotic gripper to the newest developments in grasping methods. Unlike other survey papers, we focus on the applications of robotic grippers in industrial, medical, for fragile objects and soft fabrics grippers. We report on new advancements on grasping mechanisms and discuss their behavior for different purposes. Finally, we present the future trends of grippers in terms of flexibility and performance and their vital applications in emerging areas of robotic surgery, industrial assembly, space exploration, and micromanipulation. These advancements will provide a future outlook on the new trends in robotic grippers.

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Section: Malleable Grippersmentioning

confidence: 99%

State of the Art Robotic Grippers and Applications

et al. 2016

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“…Choi and Koc developed a design of inflatable rubber pockets on the gripping sides [14] for the same purpose of grasping objects having a wide variety of shapes. Pettersson et al utilized magnetorheological (MR) fluid for constructing a gripper that can fit to the shape of the object and provide a space for confining objects [15]. The space was formed by molding the MR fluid.…”

Section: Related Workmentioning

confidence: 99%

New condition for tofu stable grasping with fluid fingertips

Nishimura

Fujihira

Adachi

et al. 2016

2016 IEEE International Conference on Automation Science and Engineering (CASE)

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Abstract-Tofu shows the following compression behavior. First, the behavior is non-linear; subsequently, the behavior becomes elastic/linear, followed by yielding and fracture. A linear behavior indicates that there is no fracture, but further increase of compression can cause yielding or fracture. The compression in the region of linear behavior then can be regarded as maximum. With this in mind, this paper presented a grasping condition of controlling the amount of compression so that the compression behavior can be linear. This condition is applied to the previously proposed fluid fingertip that utilizes a rubber bag filled with a viscoelastic fluid and having a rigid layer inside the fluid. In addition, this paper presents a methodology for checking whether the grasping condition is held, based on our previously developed phase change detection method of comparing the fitting accuracies of different approximation models. Additionally, this paper presents the reason behind the behavioral change of fluid pressure. Before phase change, the fluid fingertip behaves like a rigid fingertip, while after phase change, the contact pressure is transmitted to the fluid pressure and can be observed by the fluid pressure. The validity of the approach was shown through experiments.

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“…Their pneumatic inflation made it possible to grasp objects with a wide variety of shapes. Pettersson et al presented a gripper with a gripping area covered by a magnetorheological (MR) fluid [13]. The area with the MR fluid was molded according to the object shape, and the object was confined inside the space formed by the molded MR fluid.…”

Section: A Related Workmentioning

confidence: 99%

“…Robotic hands [1][2][3][4][5][6][7][8][9][10][11][12][13] have essential roles as end-effectors to complete such tasks. In order to substitute for the hands of a human, robotic hands must be able to perform a wide variety of functions to grasp and manipulate objects.…”

Section: Introductionmentioning

confidence: 99%

“…In order to substitute for the hands of a human, robotic hands must be able to perform a wide variety of functions to grasp and manipulate objects. Most of the developed robotic hands have targeted rigid object grasping [3][4][5][6][7][8][9], with only a few targeting delicate grasping [1,2,[10][11][12][13]. In the human environment, there are many fragile and soft objects such as foods and living tissues.…”

Section: Introductionmentioning

confidence: 99%

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Identification of danger state for grasping delicate tofu with fingertips containing viscoelastic fluid

Adachi

Fujihira

Watanabe

2015

2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

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Abstract-In this study, we experimentally investigated the process leading to fracture in tofu grasping by deformable fingertips filled with a fluid. In our previous papers [1, 2], we developed deformable fingertips using a rubber bag filled with a viscoelastic fluid, and presented a strategy for delicate tofu grasping without any advance knowledge about fracture. However, the predication point was close to fracture, and the prediction was then still a gamble. In order to realize fracture prediction at an earlier stage, we examined the process leading to fracture when pushing tofu by the deformable fingertips. The stiffness of the fingertips can be controlled with the pressure of the fluid inside the fingertips. The pushing force and fluid pressure were examined for different levels of stiffness of the fingertips. The main findings and contributions are as follows. 1) The convergence of the ratio of the contact force to fluid pressure gives an indication of dent occurrence. This convergence could be seen when fingertip rubber bag was not filled (low stiffness). 2) It was easier for a dent to occur when the fingertip rubber bag was not filled than when it was filled (high stiffness). 3) Changes in the rate of increase of the fluid pressure as the tofu was pushed were repeatedly observed. We defined this as a phase change and present a method for detecting such changes. The phase change points were detected by comparing the fitting accuracies of different approximation models. 4) The last and second to the last phase changes before fracture were detected by detecting the first phase change (after the convergence of the rate of the contact force to fluid pressure if the fingertip bag was not completely filled). The detected points can be regarded as alert points indicating a fracture risk that is not close to the fracture point.

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Design of a magnetorheological robot gripper for handling of delicate food products with varying shapes

Cited by 231 publications

References 11 publications

State of the Art Robotic Grippers and Applications

State of the Art Robotic Grippers and Applications

New condition for tofu stable grasping with fluid fingertips

Identification of danger state for grasping delicate tofu with fingertips containing viscoelastic fluid

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