Volume 8, No. 2, March 2019

General Information

  • ISSN: 2278-0149 (Online)
  • Abbreviated Title:  Int. J. Mech. Eng. Robot. Res.  
  • Editor-in-Chief: ​Prof Richard (Chunhui) Yang, Western Sydney University, Australia
  • Associate Editor: Prof. B.V. Appa Rao, Andhra University; Prof. Ian McAndrew, Capitol Technology University, USA
  • Managing Editor: Murali Krishna. B
  • DOI: 10.18178/ijmerr
  • Abstracting/Indexing: Scopus (since 2016), CNKI, Google Scholar, Crossref, etc.
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International Journal of Mechanical Engineering and Robotics Research
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Designing a Flexible Grasp Tool and Associated Grasping Strategies for Handling Multiple Meat Products in an Industrial Setting

Troels B. Jørgensen 1, Norbert Krüger 1, Mads M. Pedersen 2, Niels W. Hansen 3, and Bo R. Hansen 4
1. University of Southern Denmark, 5230 Odense M, Denmark
2. Gripa, 9900 Frederikshavn, Denmark
3. Danish Meat Research Institut, 2630 Taastrup, Denmark
4. Danish Crown AmbA, 9900 Frederikshavn, Denmark

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. 

Index Terms—Gripper design, Grasp strategies, Deformable object manipulation

Cite: Troels B. Jørgensen, Norbert Krüger, Mads M. Pedersen, Niels W. Hansen, and Bo R. Hansen, "Designing a Flexible Grasp Tool and Associated Grasping Strategies for Handling Multiple Meat Products in an Industrial Setting," International Journal of Mechanical Engineering and Robotics Research, Vol. 8, No. 2, pp. 220-227, March 2019. DOI: 10.18178/ijmerr.8.2.220-227