Designing a Flexible Grasp Tool and Associated Grasping Strategies for Handling Multiple Meat Products in an Industrial Setting

Troels Bo Jørgensen, Norbert Krüger*, Mads Møller Pedersen, Niels W Hansen, Bo R. Hansen

*Corresponding author for this work

Research output: Contribution to journalJournal articleResearchpeer-review

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Abstract

In this paper, we present a suction cup based gripper tool for grasping different cuts of meat. 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
JournalInternational Journal of Mechanical Engineering and Robotics Research
Volume8
Issue number2
Pages (from-to)220-227
ISSN2278-0149
DOIs
Publication statusPublished - Mar 2019

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