{{ post.title }}
글 편집
글 편집 (이전 에디터)
{{ post.author.name }}
작성일
| Product Name | {{ post.meta.product_name }} |
|---|---|
| Year | {{ post.meta.published_year }} |
| Authors | {{ post.meta.authors }} |
| Assigned | {{ post.meta.assigned }} |
| Published in | {{ post.meta.published_in }} |
| Program | {{ post.meta.program }} |
| Download Link | Download here (Download source :{{ post.meta.download_source }}) |
Development of Scooping-Enclosing Gripper for Unstructured Flexible Food
- Seok-ho Jo
- Department of Intelligent Robot Engineering
- The Graduate School, Pukyong National University
Abstract
We propose a scooping-enclosing gripper for handling irregular and flexi ble foods. The proposed gripper consists of a silicone net designed to preven t damage and escape of flexible food during transport, and a scooping plate t ailored to grab food from the base. To validate the effectiveness of the gripp er components, dynamic simulations were performed. First, simulations were conducted to evaluate the gripper's geometry by a pplying a static vertical load of 15 N to three shapes, square, arch, and inve rse arch. Among these, the inverse arch shape demonstrated the lowest stress of 0.5 MPa, making it the most suitable geometry for the gripper. Next, a si mulation was carried out to verify the spring constant required to reduce imp act during vertical descent. With a spring length of 10 mm and a spring con stant of 1.96 N/mm, the impact force was reduced from 17 N to 8 N, confir ming the effectiveness of the proposed configuration. Furthermore, to validate the elastic modulus of the silicone net, repeated pick-and-place simulations w ere performed. A test using a 50 mm aluminum ball verified the suitability o f a 0.5376 MPa elastic modulus for the silicone net. The proposed gripper was fabricated using filaments for the frame, Drago n Skin 20 for the silicone net, and a Single Tact 10 N pressure sensor for f - vii - eedback control. Through PID control experiments, the gripper successfully ge nerated appropriate control inputs for gripping tofu, jelly, and rice cakes with out causing damage. Finally, gripping experiments were conducted by attachin g the gripper to a collaborative robot. The experiments, performed ten times for each food type (tofu, jelly, rice cake, and oyster, pollack roe, sweet bean jelly), demonstrated that the proposed scooping-enclosing gripper could securel y grip all four types of food without compression or damage.
