비정형 유연 식품용 스쿠핑-엔클로징 그리퍼 개발
Development of Scooping-Enclosing Gripper for Unstructured Flexible Food
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We propose an enclosing-scooping gripper for handling flexible foods. The proposed gripper consists of a silicone net to prevent damage and escape of flexible food and a scooping plate designed to grab flexible food from the base. Through dynamic analysis, we verified the gripper geometry and spring constant to suppress the impact load caused by collision with the conveyor belt during food transport process. Additionally simulations using a silicon net have verified that it can be gripped below the elastic modulus. Next we made a gripper to evaluate the effectiveness of the proposed enclosing-scooping gripper. We demonstrated that this gripper can grip rice cake, jelly, and tofu with appropriate force through PID control. And we demonstrated that it can successfully grip rice cake, jelly, tofu, and oyster through grasping experiments.
Abstract
We propose an enclosing-scooping gripper for handling flexible foods. The proposed gripper consists of a silicone net to prevent damage and escape of flexible food and a scooping plate designed to grab flexible food from the base. Through dynamic analysis, we verified the gripper geometry and spring constant to suppress the impact load caused by collision with the conveyor belt during food transport process. Additionally simulations using a silicon net have verified that it can be gripped below the elastic modulus. Next we made a gripper to evaluate the effectiveness of the proposed enclosing-scooping gripper. We demonstrated that this gripper can grip rice cake, jelly, and tofu with appropriate force through PID control. And we demonstrated that it can successfully grip rice cake, jelly, tofu, and oyster through grasping experiments.