Design criteria for developing an automated live-bird transfer system

Presents the design criteria for developing machines to automate the process of transferring single live birds from a moving conveyor onto a processing line without causing damage or stress. The process includes inserting both legs of the bird into a shackle, then flipping and hanging the bird for subsequent processing. Unlike the traditional articulated robotic arm where the actuations are applied directly through the joint angles, the legs of a live object can only be manipulated indirectly. In addition, natural objects are typically characterized by varying sizes and shapes in batch processing and their natural reflexes (or voluntary motion) contribute to the overall dynamics. Specifically, the paper illustrates the operating principles of the transfer system and describes the method for manipulating the leg kinematics for shackling. The design criteria have been verified experimentally with live broilers (meat chickens) in a realistic environment. It is expected that the analytical model presented will provide an essential basis for the design, analysis, and control of the transfer mechanism