A Bernoulli principle gripper for handling of planar and 3D (food) products

Pettersson, A; Ohlsson, T; Caldwell, DG; Davis, ST; Gray, JO; Dodd, T

Abstract

Purpose – The purpose of this paper is the increase the flexibility of robots used for handling of 3D (food) objects handling by the development and
evaluation of a novel 3D Bernoulli gripper.
Design/methodology/approach – A new gripper technology have been designed and evaluated. A deformable surface have been used to enable
individual product handling. The lift force generated and the force exerted on the product during gripping is measured using a material tester
instrument. Various products are tested with the gripper. A experimental/theoretical approach is used to explain the results.
Findings – A deformable surface can be used to generate a lift force using the Bernoulli principle on 3D objects. Using a small forming a significant
increase in the lift force generated is recorded. Increasing the forming further was shown to have little or even negative effects. The forces exerted on
the product during forming was measured to be sufficiently low to avoid product damage.
Research limitations/implications – To be able to improve the grippers lift strength a better model and understanding of the flow is needed.
Originality/value – A novel Bernoulli gripper for 3D Bernoulli gripping have been designed and evaluated. The gripper enables flexible and delicate
handling of various product shapes, 3D as well as 2D. Increased utilization of robots in the food industry can be gained.

Citation

Pettersson, A., Ohlsson, T., Caldwell, D., Davis, S., Gray, J., & Dodd, T. (2010). A Bernoulli principle gripper for handling of planar and 3D (food) products. Industrial Robot: An International Journal, 37(6), 518-526. https://doi.org/10.1108/01439911011081669

• Journal Article Type: Article
• Publication Date: Jan 1, 2010
• Deposit Date: Aug 22, 2012
• Journal: Industrial Robot
• Print ISSN: 0143-991X
• Publisher: Emerald
• Peer Reviewed: Peer Reviewed
• Volume: 37
• Issue: 6
• Pages: 518-526
• DOI: https://doi.org/10.1108/01439911011081669
• Publisher URL: http://dx.doi.org/10.1108/01439911011081669