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

Anders Petterson (SIK – The Swedish Institute of Food and Biotechnology – Process and Technology Development, Lund, Sweden)
Thomas Ohlsson (SIK – The Swedish Institute of Food and Biotechnology – Process and Technology Development, Lund, Sweden)
Darwin G. Caldwell (Advanced Robotics, Italian Institute of Technology (IIT), Genoa, Italy)
Steven Davis (Advanced Robotics, Italian Institute of Technology (IIT), Genoa, Italy)
John O. Gray (Advanced Robotics, Italian Institute of Technology (IIT), Genoa, Italy)
Tony J. Dodd (Automatic Control and Systems Engineering, University of Sheffield, Sheffield, UK)

Industrial Robot

ISSN: 0143-991x

Publication date: 19 October 2010

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.

Keywords

Citation

Petterson, A., Ohlsson, T., Caldwell, D., Davis, S., Gray, J. and Dodd, T. (2010), "A Bernoulli principle gripper for handling of planar and 3D (food) products", Industrial Robot, Vol. 37 No. 6, pp. 518-526. https://doi.org/10.1108/01439911011081669

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Publisher

:

Emerald Group Publishing Limited

Copyright © 2010, Emerald Group Publishing Limited

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