A gripper for delicate edible manipulation
The general manipulation of delicate edible products requires of specific grippers able to firmly grasp these kind of products without damaging them. To address this problem we follow a soft and variable-stiffness approach. In this paper we design and construct successive gripper prototypes which fi...
| Main Authors: | , , , , |
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| Format: | Article |
| Language: | English |
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Elsevier
2023-11-01
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| Series: | Engineering Science and Technology, an International Journal |
| Subjects: | |
| Online Access: | http://www.sciencedirect.com/science/article/pii/S221509862300215X |
| _version_ | 1827766442515234816 |
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| author | Daniel Cardin-Catalan Antonio Morales Immaculada Llop-Harillo Antonio Perez-Gonzalez Angel P. del Pobil |
| author_facet | Daniel Cardin-Catalan Antonio Morales Immaculada Llop-Harillo Antonio Perez-Gonzalez Angel P. del Pobil |
| author_sort | Daniel Cardin-Catalan |
| collection | DOAJ |
| description | The general manipulation of delicate edible products requires of specific grippers able to firmly grasp these kind of products without damaging them. To address this problem we follow a soft and variable-stiffness approach. In this paper we design and construct successive gripper prototypes which fingers are composed of rigid and soft parts. The stiffness of the soft parts can be modified using the jamming principle. The gripper properties are experimentally evaluated using a subset of NIST benchmarks. This allows to obtain comparable and standardised results, used to improve the initial gripper design. In addition a new benchmark, the edible grasping benchmark, is proposed and used to measure the performance of the grippers while grasping fruits and vegetables. The final gripper prototype overcomes the problems observed in fruit and vegetable picking systems. It has been demonstrated in the experimental tests that the gripper has sufficient payload and adaptability to grasp several edibles without damage. |
| first_indexed | 2024-03-11T11:42:02Z |
| format | Article |
| id | doaj.art-f068868b7ccf4ac0b0e0409199c146a5 |
| institution | Directory Open Access Journal |
| issn | 2215-0986 |
| language | English |
| last_indexed | 2024-03-11T11:42:02Z |
| publishDate | 2023-11-01 |
| publisher | Elsevier |
| record_format | Article |
| series | Engineering Science and Technology, an International Journal |
| spelling | doaj.art-f068868b7ccf4ac0b0e0409199c146a52023-11-10T04:16:20ZengElsevierEngineering Science and Technology, an International Journal2215-09862023-11-0147101537A gripper for delicate edible manipulationDaniel Cardin-Catalan0Antonio Morales1Immaculada Llop-Harillo2Antonio Perez-Gonzalez3Angel P. del Pobil4Robotic Intelligence Laboratory, Department of Computer Science and Engineering, Universitat Jaume I, Av. de Vicent Sos Baynat, 12071, Castellón de la Plana, Spain; Biomechanics and Ergonomics Group, Department of Mechanical Engineering and Construction, Universitat Jaume I, Av. de Vicent Sos Baynat, 12071, Castellón de la Plana, Spain; Corresponding author at: Robotic Intelligence Laboratory, Department of Computer Science and Engineering, Universitat Jaume I, Av. de Vicent Sos Baynat, 12071, Castellón de la Plana, Spain.Robotic Intelligence Laboratory, Department of Computer Science and Engineering, Universitat Jaume I, Av. de Vicent Sos Baynat, 12071, Castellón de la Plana, SpainBiomechanics and Ergonomics Group, Department of Mechanical Engineering and Construction, Universitat Jaume I, Av. de Vicent Sos Baynat, 12071, Castellón de la Plana, SpainBiomechanics and Ergonomics Group, Department of Mechanical Engineering and Construction, Universitat Jaume I, Av. de Vicent Sos Baynat, 12071, Castellón de la Plana, SpainRobotic Intelligence Laboratory, Department of Computer Science and Engineering, Universitat Jaume I, Av. de Vicent Sos Baynat, 12071, Castellón de la Plana, SpainThe general manipulation of delicate edible products requires of specific grippers able to firmly grasp these kind of products without damaging them. To address this problem we follow a soft and variable-stiffness approach. In this paper we design and construct successive gripper prototypes which fingers are composed of rigid and soft parts. The stiffness of the soft parts can be modified using the jamming principle. The gripper properties are experimentally evaluated using a subset of NIST benchmarks. This allows to obtain comparable and standardised results, used to improve the initial gripper design. In addition a new benchmark, the edible grasping benchmark, is proposed and used to measure the performance of the grippers while grasping fruits and vegetables. The final gripper prototype overcomes the problems observed in fruit and vegetable picking systems. It has been demonstrated in the experimental tests that the gripper has sufficient payload and adaptability to grasp several edibles without damage.http://www.sciencedirect.com/science/article/pii/S221509862300215XRoboticsVariable-stiffnessGripperGraspingBenchmarking |
| spellingShingle | Daniel Cardin-Catalan Antonio Morales Immaculada Llop-Harillo Antonio Perez-Gonzalez Angel P. del Pobil A gripper for delicate edible manipulation Engineering Science and Technology, an International Journal Robotics Variable-stiffness Gripper Grasping Benchmarking |
| title | A gripper for delicate edible manipulation |
| title_full | A gripper for delicate edible manipulation |
| title_fullStr | A gripper for delicate edible manipulation |
| title_full_unstemmed | A gripper for delicate edible manipulation |
| title_short | A gripper for delicate edible manipulation |
| title_sort | gripper for delicate edible manipulation |
| topic | Robotics Variable-stiffness Gripper Grasping Benchmarking |
| url | http://www.sciencedirect.com/science/article/pii/S221509862300215X |
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