Design of a magnetorheological robot gripper for handling of delicate food products with varying shapes
Design of a magnetorheological robot gripper for handling of delicate food products with varying shapes
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DOI：
10.1016/j.jfoodeng.2009.11.020
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发表时间：
2010-06-01
影响因子：
5.5
通讯作者：
Ohlsson, T.
中科院分区：
文献类型：
--
作者：
Pettersson, A.;Davis, S.;Ohlsson, T.
天然食品通常形状多变，容易擦伤，使机器人难以处理。在本文中，一种新型的机器人抓手，利用磁流变（MR）流体的影响进行描述和评价。在夹持过程中，填充有MR流体的包装袋围绕产品轮廓成型。通过激活夹持器臂中的电磁体，MR流体屈服应力的大幅增加将产品限制在由夹持器表面产生的模具中，从而允许将其提升。安装在六轴KUKA机器人上的苹果、胡萝卜、草莓、西兰花和葡萄等产品在处理时不会出现瘀伤或凹痕，也无需更换通常需要的工具。该文件提供了关于在抓取过程中施加在产品上的力的数据以及关于最大有效载荷和可抓取产品形状的数据。(C)2010爱思唯尔有限公司版权所有。
Natural food products are often variable in shape and easily bruised, making them difficult to handle for a robot. In this paper, a novel robot gripper that utilizes the effects of a magnetorheological (MR) fluid is described and evaluated. In the gripping process pouches filled with MR fluid are molded around the product's contours. Through the activation of an electromagnet in the gripper arm, a large increase in the MR fluids yield stress confines the product in the mould produced by the gripper surfaces, allowing it to be lifted. Mounted on a six axis KUKA robot products such as apples, carrots, strawberries, broccolis and grapes have been handled without bruising or denting and without the tool changes that would typically be needed. The paper presents data regarding the forces exerted on products during gripping as well as data on maximum payloads and graspable product shapes. (C) 2010 Elsevier Ltd. All rights reserved.