A Flexible Suction Based Grasp Tool and Associated Grasp Strategies for Handling Meat

Troels Bo Jørgensen, Bo Renneberg Hansen, Mads Møller Pedersen, Norbert Krüger, Niels Worsøe Hansen

Research output: Chapter in Book/Report/Conference proceedingArticle in proceedingsResearchpeer-review

Abstract

In this paper, we present a suction cup based gripper tool for grasping pork bellies. The tool is attached to a 6DOF robot arm in order to test different grasp strategies. The task of grasping pork bellies is difficult since the objects are highly flexible. Due to the deformations, an airtight connection can form between the meat and the object below it. During the lift, this can lead to a vacuum which sometimes causes the grasp to fail. Thus it is important that the tool and the grasp strategy is able to minimize the effects of this vacuum in order to generate a stable grasp. Furthermore, there is a high variation in the meat products and the initial placement of the products. Thus the tool has to be sufficiently flexible to handle the different cases robustly.
Original languageEnglish
Title of host publicationProceedings of the 2018 4th International Conference on Mechatronics and Robotics Engineering
PublisherAssociation for Computing Machinery
Publication date2018
Pages43-47
ISBN (Electronic)978-1-4503-6365-5
DOIs
Publication statusPublished - 2018
Event4th International Conference on Mechatronics and Robotics Engineering - Valenciennes, France
Duration: 7. Feb 201811. Feb 2018
Conference number: 4

Conference

Conference4th International Conference on Mechatronics and Robotics Engineering
Number4
CountryFrance
CityValenciennes
Period07/02/201811/02/2018

Keywords

  • Deformable object manipulation
  • Grasp strategies
  • Gripper design

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