Robotic_manipulation 食品加工机械文献

食品加工机械文献

Researcharticle

Introduction

RoboticmanipulationThefoodindustryisthelargest

offoodproducts–manufacturingsectorintheEU,withan

annualturnoverofe600billion,employinganareview

excessof2.5millionpeopleinallaspectsofthefoodmanufacturingchainfromfarmP.Y.Chuaproductionthroughtodistributiontothecustomer(TheEuropeane-BusinessMarketT.IlschnerandWatch,2002).Ithasbeenidenti edasamajorD.G.Caldwell

growthareafortheapplicationofautomationsystemswiththeaimsof:.

improvingproductionef ciency,.

enhancinghygienestandards,Theauthors

.

improvingworkingconditions,.

P.Y.Chua,T.IlschnerandD.G.CaldwellarebasedatimpactingonyieldmarginsandtheDepartmentofElectronicEngineering,Universityofpro tability,andSalford,Manchester,UK..

conformingtoexistingandfuturelegislationpertainingtofoodKeywords

automation.Manipulators,Robots,FoodAlltheseareinanenvironmentwhere

feedstocksarenaturalandvariableandsupplyAbstract

anddemandareseasonalandregional.ThefoodindustryisahighlycompetitivemanufacturingCurrentlyautomationandengineeringarea,butwithrelativelylittleroboticinvolvementaspracticeinthesectorisquitedisparateandcomparedtotheautomotiveindustry.Thisisduetotheexhibitsawiderangeofproductionfactthatfoodproductsarehighlyvariablebothinshape,sizesandstructurewhichposesamajorproblemfortechniquesfromthemostadvanced

thedevelopmentofmanipulatorsforitshandling.automationtechnologytomanualhandling.ThispaperreviewsthecurrentstateofdevelopmentinAlthoughthisrangeofautomationstylesis,robotmanipulatorsforthefoodindustry.Threemainareasinpart,are ectiononinvestmentpolicyinawerecovered.Theyare:thehandlingofnon-rigidfoodlowmarginindustry,inmanyinstances,theproducts–theprocessingofmeat,poultry, shanduseofmanualtechniquesisadeliberatepolicymilking,theharvestingoffoodproducts–pickingofbecauseofthe exibilityprovidedbythefruits,asparagusandmushrooms,andthepackaginghumanworkerandtheperceivedin-abilitiesoffoodproducts–secondaryandtertiary.

ofcurrentautomationsystems.ThistendencytomanualoperationisparticularlyacuteElectronicaccess

whenconsideringtasksinvolvingtheactualhandlingandmanipulationofthefoodTheEmeraldResearchRegisterforthisjournalisavailableat

products.

/researchregisterWithintraditionalmanufacturingindustry,therearealsoahighnumberofmanipulationThecurrentissueandfulltextarchiveofthisjournalistasks,butinasigni cantproportionofcases,availableat

thehumanhandlingoperationshavebeen/0143-991X.htm

automatedandthereisalittleneedfor

humanoperatorstodosimpleandrepetitivepickandplacetypeoperations.Instead,theseactionsareachievedusinggraspingandhandlingmechanisms,end-effectorswhich,althoughclumsydevicescomparedtothehumanhand,havetheadvantageofrobustmechanicalconstruction;thismeansthattheycanbedesignedtowithstand

environmentalextremessuchastemperature,IndustrialRobot:AnInternationalJournalVolume30·Number4·2003·pp.345–354pressure,chemical,workcycles

qMCBUPLimited·ISSN0143-991X(speedandduration)andmassesthatDOI10.1108/01439910310479612

wouldsimplybetoosevereforhumans.

食品加工机械文献

Basedontheknowledgeofthesebene tsandconstraintstheeffectiveindustrialutilisationhasbeendeveloped.

WithintheUK,itisestimatedthat70percentofUKcompaniesthathave

achievedamanufacturingstandardthatcouldbecalledworldclass,donothaveadvancedprocesscontrolintheiroperations(FoodandDrinkNationalTrainingOrganisation,1998).Speci cshortcomingsthathavebeenidenti edwithregardtothefoodsectorare:(1)alackofunderstandingoftheproperties

ofthefoodproductasan“engineering”materialforhandlingoperations,(2)alackofhandlingstrategiesand

end-effectorsdesignedtocopewiththevariablecharacteristicsoffoodproducts,

(3)lowerconsistencyandvariableproduct

quality,duetoworkingandhandlingdifferencesandproductvariability,and(4)highmanuallabourcontent.

WithintheUK,theBritishAutomationandRobotAssociation(BARA)reportsthatthepopulationofrobotshasincreasedatalmostanexponentialpace(Figure1)fromlessthan2,000robotsin1980to20,000in2001.However,themajorapplicationsofrobotsarestillintheautomotive,

pharmaceutical,plasticsandmetalhandlingindustries,withlittlecurrentactivityfromfoodrelatedindustries(Figure2).Atthesametime,BARAstatisticsdoshowthatthenumberofrobotsappliedinthefoodanddrinkindustrytripledfrom1999to2001,althoughfromanadmittedlyverylowbase(BARA,2001).

Toamuchlesserextent,robotshavealsobeenemployedinharvestingandprocessingoffoodproducts.Thispaperlooks

speci callyatmanipulatorsdesignedforharvesting,processingandpalletizingoffoodproducts.

Figure1UKrobotpopulation

growth

Figure2Yearonyearindustry

comparison

Handlingoffoodproducts

Themajorityoffoodproductsarenon-rigidandvaryintexture,colour,shapeandsizes.ErzincanliandSharp(1997)describedsomeaspectsofthehandlingdif cultiesoftheseproductsincludingthehygienerequirements,whichisasigni cantissueinhumanhandling.Thehandling

characteristicsoffoodproductscannotbeadequatelydescribedwithgeometry

basedinformation(asperhapsoccursinconventionalengineeringmaterials)sincetheirgeometryisoftenafunctionoftimeandtheforcesappliedtotheobject.Theconsequenceisthatthefoodproductinherentlydeformssigni cantlyduringhandling.Anysystemdevelopedtohandlefood,thereforeneedstoreactaccordinglytothisdeformation.

Further,theproductbehaviourisaffectedbythefollowing:

(1)environmentalconditionssuchas

temperature,humidityandpressure;(2)duetotheirlackofrigidity,foodproducts

maybefragile;

(3)foodproductsareeasilybruisedand

markedwhentheycomeincontactwithhardand/orroughsurfaces;

(4)foodsaresusceptibletobacterial

contamination.Humanshandlethesecomplexitieswitheasebycombiningdextroushandlingcapabilities(humanhand)andbehaviouralmodelsoftheproductaccumulatedwithexperience.

食品加工机械文献

Manipulatorsfornon-rigidfoodproducts

Taylor(1995)classi esthemaintechniquesforgrippingnon-rigidmaterialintothreeclasses.

Mechanicalsurface,wherethematerialisclampedorpinchedbetweengripper ngerstogivehighfrictionalholding.Itemssuchas shandpoultrycanbehandledusingaclampingtypegripper.Thegrippersurfacecanbeangledtomechanicallylockslipperyitemssuchas shorcompliantfoammaybeaddedtothegrippertoaidingraspingfruitsandvegetables,whichareeasilybruised.

Intrusive,wherepinsarefedintothesurfaceorbodyofthematerialandmovedtolockitintoplace.Thistypeofgripperisgenerallyunsuitableforfoodproducts,asitwouldcauseunacceptabledamage.

Surfaceattraction,whichincludetheuseofadhesivesorvacuum.Vacuumgripperswhichemploysuctioncupscanbeusedtogripfooditems,butnotallthefooditemscanbehandledwithsuchgrippersasthevacuumnozzlecanbecloggedwithdirtorscrapsofmaterialsandcanbeasourceofbacterialcontaminationorcrossproduct

contamination.Thistypeofgripperiscommonlyusedintheharvestingoffruitswherethesurfaceofgrippingisrelativelyhardandyeteasilybruised.

BeyondthetraditionalvacuummethodtechniquesinthisclassincludetheuseofPermatak-typeadhesives,whichhavebeendevelopedbyMonkmanandShimmin(1991)toallowgripperstobepermanentlytacky.Theproblemfacedinattemptingtousethismethodisthattherewasnowayto“switchoff”theadhesionofthegrippersthereforerequiringadditionalmechanismtoremovethegrippedobject.Thismethodhasbeenusedeffectivelyinthehandlingoftextilematerials,butcontaminationmaymakeitlesssuitableforfoodprocess.

StephenandSelinger(1999)developeda“freezinggripper”,wheregripisattainedbyrapidlyfreezingwatervapoursthathavebeendistributedonthegrippingspotthroughanintegratednozzle.Thefreezingofthevapoursareduetoacoolingelementonthenozzlewithtemperaturesat2108C,whichresultsinthegrippingofthematerialwithin1s.Toreleasethematerial,thefrozenvapourislique edbyairpressure.Althoughthisgripperwasdevelopedforthetextileindustry,

ithasagreatpotentialinthefoodindustry,especiallyinthepackagingoffrozenfooditems.

Grippersusingelectrostaticprincipleswherehighvoltageisappliedacrosstwointerlockingpatternsonaprintedcircuitboardcoveredwithasuitabledielectric lmhavealsobeendevelopedasasurface

rgesurfaceisneededtoprovideadequategrippingforce.Onceagainthishasbeenshowntoworkeffectivelywithtextilesandleatheralthoughnotyetappliedinfoodhandling.Itispossiblethatthismethodcouldbeappliedtohandlethindelicatestripmaterials,e.g.smokedsalmon.

Erzincanlietal.(1998)developedanon-contactrobotichandlingsystemfornon-rigidmaterials.Thiswasasurfaceattractiontechniquebasedonair owbutwithan

unconventionaloperatingprinciple.Theend-effectorofthesystemconsistsofradialair ownozzles(Figure3).Thenozzlesgeneratehighspeedair owbetweenthenozzleheadandthematerialsurface,therebycreatinga

vacuumwhichliftstheproduct.Theclearancegapofthenozzlemustbeverysmallcomparedtothediameterofthecentraltubeforanattractionforcetobegenerated.Thisgapbetweentheend-effectorsandthenon-rigidproductistosomeextentself-regulatingwhichimposeslocalrigidityduringmanipulation.

Stoneetal.(1998)describedahandlingsystemforusewithcompactshapednon-rigidmaterialthatdisplaysdifferentdegreesofvisco-elasticandplasticdeformation.Thegripperwasdesignedtooperateintwomodes;rmationfromthetactilesensorisusedtomonitorthedeformationofworkpiecesduringhandling

Figure3Non-contactend-effector

nozzle

食品加工机械文献

andappropriategrippingstrategywasemployedaccordingly.

Tokumotoetal.(1999)approachedtheproblemofhandlingvisco-elasticmaterialbymodellingtheobjectsasalatticestructurewhereshapedeformationtoanappliedinputforcecanbesimulated.Atthistime,thisisstillathereoticalapproachanditsvaluetohandlefoodproductshasstilltobeshown.

Friedrichetal.(2000)focussedonsensingandcontrolissuesofmanipulatingnon-rigidmaterials.Theend-effectordevelopedintheirworkiscapableofestimatingtheminimumforcerequiredtoliftanobjectbyassessingitshardnessduringtheformationofthegrasp.Slipcontrolisappliedinsubsequentliftingandtransferoftheobject.Continuouscontrolofthegrippingforceand ngerpositionismadepossiblebytactilesensingusingstraingaugesandopticalencodersfordeterminingtheposition(Figure4).Thedimensionoftheobjectcanbedeterminedfromthe ngerposition,whentheobjectis rsttouched.Firmnessisthenestimatedbasedonforcedisplacementmeasurementsduringtheformationofthegrasp.Thisresultsinanestimateofasuitablegrippingforcetopickuptheobject.Thisestimatefollowstherulethatsincesofterobjectsallowincreasedcontactarea,lessgrippingforceisneededtopickupsofterobjects.Forslipdetection,anactivevibrationtechniqueusingstraingaugeswasused.Whena rmcontactisestablishedwiththeobject,thevibrationsignalisreducedsigni cantly.

SaadatandNan(2002)presentedan

overallpictureoftherecentpastandpresentresearchoftheindustrialapplicationsof

automaticmanipulationof exiblematerials,

Figure4Sensorygripping

device

butonlybrie ymentionedtheapplicationsinthefoodindustry.

Manipulatorsforprocessingmeat

Awashablerobotmanipulatorwas

developedbyTaylorandTempler(1997).Themanipulatorwasdesignedforspeci cdressingoperationsassociatedwithsheepandlambcarcassprocessing.Itconsistsofalinear-revolute-linear-revolutelinkagearrangementwithitsmajoraxisinstalledhorizontally

overhead,whichallowsthearmtosweepwithmaximumvelocityinaverticalplane.

Con guringtheprimarylinearaxistotrackthemotionofthedressingconveyorchainandanencoderpinionwheeltotrackthechainmotionallowsthetasktobeperformedintrinsicallywithminimumprogrammingeffort.Amainarmdrivenbyhighratioharmonicdrivescarriesatelescopicarmwhichcanextendupto300mm.Thefourthwristaxissupportsatoolplatewhichcanrotateafull3608,whereavarietyofend-effectorscanbeattached.IntheapplicationofaY-cut,apneumaticcuttingtoolwasusedwithcompressedrubbermountingsaddedfortoolcompliance.

Manipulatorsforpoultry

Khodabandehloo(1996)discussedthelabour-intensivetaskofpackagingpoultryportions.Asystemdevelopedforthetaskoforientatingchickenportionontrays,consistsofarobotandgripper,arobotcontroller,avisionsystemandcentralcomputerforcellcontrol.Theselectionofthegripperisimportantasadextroushandresultsinunnecessarycomplexityandacontour

adaptinggripperwouldcauseskindamage.ThesuggestedgripperisthepneumaticrubbermusclegripperdevelopedatBristolUniversity(Figure5).Thegrippergivesadegreeofcomplianceaswellasasafeandhygienicpowersupplyforahosedown,foodenvironment.

Manipulatorsforprocessing sh

BuckinghamandDavey(1995)describedanEsprit-fundedprojectforthede-headingof shcalledRobo sh.Themanipulator

食品加工机械文献

employstwoSCARAarmsofsixaxeswhichcontinuouslyrotatetoachievea shgrasprateofuptoonepersecond.Theend-effectordesignedconsistsofatwo ngeredgripperpoweredbyapneumaticactuatorwhichexertsaclosingforceof250Nonthe sh.Therigid ngerrestsagainstthe atskullofthe shandtheopposingjawthumbisforcedintothe“V”ofthejawboneofthe sh.Thegripperachievesacycletimeof2sandisabletooperatecoveredin shdetritusand

withstandthoroughcleaning.Thecompletemanipulatorhasareachof1mandstands2mtall(Figure6).Buckinghametal.(2001)describedthecompletedsystemnowcalledRobo shII.

unpredictable,movingtargetandcopewithdifferentcows,uddersandteatsizes.Therobotend-effectorisopenended(Figure7)soastoallowateatcuptobeslottedontoit.Thebeamarrangementoftheend-effectorresultsinaskewedbeammatrix(Figure8)toleaveanopenendfortheteatcupentry.Apneumaticallydrivenrobotarmrotatestheend-effectorthrough1808topickupinvertedcupsfromthemagazine.Whenthecowisinposition,themanipulatorisdrivenbyanoperatorusingajoysticktoeachteatandthepositionisstored.Duringautomatic

Figure6Manipulatorforthede-headingof

sh

Manipulatorsforroboticmilking

Halletal.(1996)reportsontheSilsoe

AutomaticMilkingSystem(MKIandMKII).Thesystemallowsthemilkingofcowswithminimumhumansupervisionovera24hperiod.Themanipulatorsweredesignedwithend-effectorswhichguidetheteatcupontoan

Figure5Pneumaticrubbermuscle ngerandgripperdevelopedat

Bristol

Figure7MKIIrobot

end-effector

Figure8End-effectorbeamarrangementandlookup

table

食品加工机械文献

milking,therobotpicksupateatcupandmovestoeachteatpositionatapproximately80mmbelowtheteattip.Theteatcupisthenraisedandtheteatiscentredthroughthepatternofblockedbeams.Attachmentissensedbytheincreaseinvacuumlevelintheteatcup.

Manipulatorsfortheharvestingoffoodproducts

IndustrialRobot(1999)reportsthat,inthelast15years,mechanisationinfarminghasincreasedmassivelyandthelabourforcehasshrunkproportionately.Onceittook20peopletorunatypical2,000acrefarm,butnowitonlytakestwo.Thisresultsinlargerfarmsandgreatercommercialinvolvementleadingtoincreaseddevelopmentofroboticsintheagriculturalsectorforthesolepurposeofharvestingfoodproducts.

Aresearchprogrammebasedonselectiveasparagusharvestingunderwaysince1989attheCentreforAdvancedManufacturingandIndustrialAutomation(CAMIA)inthe

UniversityofWollongonghasbeenreportedbyArndtetal.(1997).Thegreatchallengesofharvestingtheasparaguscrop,whichcangrowasmuchas50mminlengthperdayare:.

thetimingofharvestingwhichshouldbejustbeforethespearopenstoproduceanasparagusfern,.

manipulationofthespearswhichcaneasilysufferdamage,ifbentsigni cantly,and.

thecropmustbeharvestedselectivelyastheasparagusdoesnotgrowevenly.TheCAMIAharvesteremploysa bre-opticdetectionsystemtodetectoptimumharvestlengthof180mm.Grippingisachievedbyrotatingdiscsmadeof exiblematerialandcutbyaknifewhichcombinesa908rotationwithupanddownlinearmovementtominimizedamagetotheasparagus.

Mattiazzoetal.(1995)usedapneumaticgripperwithwater lled ngertipscapableofdetectingappliedpressuretoaddressthesameasparagushandlingproblem.Intheirdesigns,the ngertipsconsistofametalstructureandarubberdiaphragm,whichactsasthesensingelementtowhichcontactforcesareapplied.Thegripperwasprovidedwithfuzzylogiccontroldevelopedfromexperimentaldataobtainedfromtestconductedonthesystemcomponents.

Kondoetal.(1996)developedafruitharvestingrobotforuseinJapanese

agriculturesystemswhichcommonlyproducecropsingreenhousesandinsmall elds.Specialisedend-effectorsweredevelopedforharvestingtomatoes,petty-tomatoes,

cucumbersandgrapes.Theend-effectorshaveextendablesuctionpadstosecuretheselectedfruit.Onceaparticularfruitfromaclusterisselected,thepadsareretractedsoastoseparatethefruitfromthecluster.TwoDCmotordriven ngersthenmoveintopositiontogripthefruitandbenditatitsjointssoastodetachthefruit.

OnamuchlargerscaleCeresetal.(1998)designedandimplementedahumanaidedfruit-harvestingrobot(Agribot).TheAgribotapproachestheproblemoffruitpickingbycombininghumanandmachineoperations.Theoperatordrivestheroboticharvestertotheselectedfruittrees.Thefruitsarethenpointedwithalasertelemeterbyusingajoystickthatallowsorientationofa

two-degreeoffreedompan/tiltmovement(Figure9).Thecontrolcomputerdeterminestheoptimumsequenceoffruitstobe

harvesteddependingontheirdistributionandtherelativepositionwithrespecttotheactualpositionofthepickingarm.Theend-effectorsoftheAgribotuseasuctioncuptoretracttheselectedfruitintoaV-shapedcentringdevicewherethecuttingtoolisplaced(Figure10).Apressuresensorisusedtocon rmthegraspingofthefruitandthedetectionofthestemiscarriedoutusingtwoconvergentinfra-redsensors.

Reedetal.(2001)developedan

end-effectorforthedelicateharvestingofmushrooms.Highqualityrequirementsare

Figure9Con gurationoftheroboticfruitharvester

Agribot

食品加工机械文献

Figure10SchematicviewoftheAgribot

end-effectorsFigure11Rackandpinionend-effectorandcup

changer

setformushroomsdestinedforthefreshmarket,intermsoflackofdamage,casingsoilcontamination,uniformityofsizeandthestageofdevelopmentatharvesting.Themushroompickingprocessinvolvesinitialidenti cationofsuitabletargetsintermsofsizeandlocation.Thismustbeachievedinsuchamannerasnottodamageor

contaminatethetargetoritsneighbours.Thisisfollowedbycarefultrimmingandplacementofthemushroomsinacontainer.Afullyautomatedmushroomharvesterhasbeenproducedwithend-effectorswhoseslidingrackisdrivenbypinionpoweredbysteppermotors(Figure11).Thesystemhasan

automaticsuctioncupchangingmechanismtocopewiththenaturalvariationin

mushroomsizes.Optimumsuctiononthevacuumcupsiscrucialasthesurfaceofthemushroomiseasilydamaged.Thedetachedmushroomsweretransportedbya nger

conveyorandplaced(asdroppingcouldcausedamage)inacontainerbyagripperconsistingofapairofpneumaticallyoperatedarmsequippedwithcompliantgripperpads(Figure12).

Themanipulatorsdiscussedsofarwerebuilttohandlefragileanddelicateoperationoffoodproduce.Sakaietal.(2002)describedaheavymaterialhandlingmanipulatorforharvestingheavyvegetablessuchaswater-melons,pumpkins,cabbage,lettuce,etc.Throughanalysisbasedonkinematicindexes,aparalleltypemanipulatorwaschosenanddeveloped.Themaximumreachofthemanipulatoris2,800mmwitha

Figure12Fingerconveyorandgripperunitonthemushroom

harvester

maximumendpointforceof150Nvertically.The rsttwojointsofthemanipulatoraredrivenbyhydraulicactuatorswhilethethirdjointwhichpositionsthegripperonarailisdrivenbyaDCservomotor.ThehandforgraspingwatermelonsconsistsoffouroneDOF ngersandasmallDCmotor(Figure13).Itisapassiveforceclosuregripperwhereclosureisactivatedbygravitationalforceandfriction.TheDC

motorisusedtoopenthegripperandreleasethewatermelonatitsdestination.

Manipulatorsforthepackagingoffoodproducts

Wallin(1997)statesthattheapplicationsofrobotsarepredominantlyintheareasofmaterialhandlingandsecondaryortertiarypackagingoperations(Figure14).Thisisdue

食品加工机械文献

Figure13Watermelonharvester

gripper

tothefactthatsecondaryandtertiary

packagingoperationsaresimplertoautomateforthefollowingreasons..thematerialisstructuredandcanbe

presentedinanorderedformat;.

thepackagingisofaregularshape;.thematerialisrigid;.

therearefewerhygiene-relatedproblems;.

throughputsaremanageable.TheCanadianPackagingMagazine(1998)reportsonapoultrypackagingmanipulatordevelopedbyGeorgiaTechresearcherscalledtheintelligentintegratedbeltmanipulator(IIBM).Theoriginalaimoftheprojectwastodevelopalow-costrobotthatcouldperformmaterialhandlingwiththesamespeedanddexterityasahuman.TheIIBM(Figure15)isahybridoftwoaxespneumaticsandtwoaxeselectro-servodriveswhichallowmovementinfourdifferentdirections:upanddown,

parallelwiththeconveyorbelt,perpendicularacrosstheconveyorbeltanda908rotationalpivot.Theend-effectoroftheIIBMhas

suctioncupswhicharecompressibletoallowthegripperstoconformtodifferentcontoursoftheproduct.

Hamazawa(1999)describesafoodgripperinapackagingsystemthatcan exibly

conformtovaryingfoodproducts.ItemploysthestrategyofAbsorptionandHolding.

Figure14Typicalroboticpackaging

line

TheAbsorptionmethodallowsthegrippertoadapttothedifferenceinthefoodproductformandunevennessonthesurfacebyapplyingablowertoincreasesuctioninthegripper.TheHoldingmethodiseffectivewhenaparticularplacementofproductsisrequired(Figure16).

BrantmarkandHemmingson(2001)describedthedesignoftheABBFlexPicker(Figure17).TheFlexPickeridenti es,picksandplacesobjectsathighspeed.BasedontheDeltaconcept,theFlexPickerisaparallelrobotwithfourdegreesoffreedomandadynamicmassofaround4kgexcludingthehandlingcapacityof1kg.TheFlexPickerhasthreepairsofarms,eachwithanupperandlowerarm,articulatedattheelbow.Allthreearmsarejoinedtogetheratitsfurthestextendatatoolplatewherevacuumcouplingscanbeattached.Rotationispermittedthroughatelescopicfourthaxis.Withacapabilityofmorethan150picksperminute,the

FlexPickerhasmorethantwicethespeedofahumanoperator.

Burgess(2001)describestheapplicationofrobotstoagriculturaldepalletizing.Thegripperdevelopedconsistsofthreeovalvacuumcups.Thecupsweremountedtoallowpickupofthreebagsatatimeandaredesignedtoallowasubstantialdifferenceintopsurfaceheight.ThegripperwasattachedtoaFanuc410iWX(Figure18)heavy-dutyrobot.

Conclusion

Automationandtheuseofrobotsareseenbymany(ifnotmost)ofthecompaniesworkinginthefoodsectortobeavitalrequirementfortheirfuturesurvival.Unfortunately,the

complexityofgenerichandlingof exibleandirregularfoodproductsisstillbeyondanyend-effectorbuilt,butiseasilywithinthecapacityofthehumanhandinmostinstances,hence,thehighlabourusage.Analysisof

食品加工机械文献

Figure15IIBMrobotremovingthepackagedpoultrytraysfromaconveyorandtransferringthemintopacking

cartons

Figure18TheFanuc

410iWX

Figure16FoodgripperapplyingAbsorptionandHolding

method

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Figure17IRB340

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Tokumoto,S.,Fujita,Y.andHirai,S.(1999),“Deformation

modellingofviscoelasticobjectsfortheirshapecontrol”,Proc.oftheIEEEInt.Conf.onroboticsandautomation,Detroit,Michigan,pp.767-72.

TheEuropeane-BusinessMarketWatch,SectorReport

No.1/July2002,“TheICTande-BusinessintheFood,BeverageandTobaccoIndustry”.

Wallin,P.J.(1997),“Roboticsinthefoodindustry:an

update”,TrendsinFoodScienceandTechnology,Vol.8.

Furtherreading

Arndt,G.,Perry,W.M.andRudziejewski,R.(1994),

“Advancesinrobotisedasparagusharvesting”,Proceedingsofthe25thInternationalSymposiumonIndustrialRobots,Hannover,pp.261-6.

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