Characterization of bellows actuator was performed to validate the analytical model, and agreement was found on the thrust force, but discrepancy occurred in the elastic force due to the complex structure and deformation mode of bellows. Bellows actuators were designed based on the analysis and fabricated using both 3D printing and casting methods. A theoretical analysis of the withdrawing and grasping operations was performed, and an analytical model of the bellows actuator was established by considering both the pressure thrust force and the elastic force. Soft pads with special groove patterns were fabricated and used to provide sufficient friction when they come into contact with the plate. Each mechanism is actuated by two bellows actuators. The robotic hand consists of withdrawing and grasping mechanisms. In this letter, we focus on the automation of dishwashing operations and propose a robotic hand capable of withdrawing and grasping a dish plate from a pile, even when there is water or oil left on the plate in a post-meal scenario.

This may be because (1) the tasks involve high-speed operations in unstructured environments and (2) the lack of effective robotic end-effectors. Experiments with different gripper designs were carried out to compare the two grippers performance, and preliminary results proved the possibility of applying these paper grippers for the food processing field.read more read lessĪbstract: Automation in the food services industry is not as developed as in the automotive and electrical industries. Both grippers are low-cost, easy- fabrication and with simple actuation mechanism to enable a mass production.

One gripper uses a biomimetic mechanism of human hand to provide a force-closure grasping capability, and the other one uses a scoop mode to achieve a shape- closure grasping capability.

In this paper, we propose two paper-made grippers for the increasing soft object grasping requirements in the food processing field. The paper-made grippers are low-cost and disposable to solve the crucial cleanness problem and they have soft structures which can adapt to the object shapes to avoid possible grasping damages.

Abstract: Soft food grasping in the food processing field is challenging for traditional robot hands because of the large demand, special hygiene cleanness and damage-free requirements.

Gripper for ipod instal