Design of a magnetorheological robot gripper for handling of delicate food products with varying shapes

Pettersson, A; Davis, ST; Gray, JO; Ohlsson, T

Abstract

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.

Citation

Pettersson, A., Davis, S., Gray, J., & Ohlsson, T. (2010). Design of a magnetorheological robot gripper for handling of delicate food products with varying shapes. Journal of Food Engineering, 98(3), 332-338. https://doi.org/10.1016/j.jfoodeng.2009.11.020

• Journal Article Type: Article
• Publication Date: Jun 1, 2010
• Deposit Date: Aug 22, 2012
• Journal: Journal of Food Engineering
• Print ISSN: 0260-8774
• Publisher: Elsevier
• Peer Reviewed: Peer Reviewed
• Volume: 98
• Issue: 3
• Pages: 332-338
• DOI: https://doi.org/10.1016/j.jfoodeng.2009.11.020
• Publisher URL: http://dx.doi.org/10.1016/j.jfoodeng.2009.11.020