Design criteria for developing an automated live-bird transfer system

Presents the design criteria for developing machines to automate the process of transferring 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, flipping and hanging it for subsequent processing. Specifically, the paper illustrates the operating principles of the transfer system and describes the method for manipulating the leg kinematics for shackling. 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 bp varying sizes and shapes in batch processing and their natural reflexes (or voluntarily motion) contribute to the overall dynamics. The design criteria have been verified experimentally with live broilers (meat chickens) in a realistic environment. It is expected that the analytical model presented would provide an essential basis for the design, analysis and control of the transfer mechanism