On the development of a compliant grasping mechanism for online handling of live objects. I. Analytical model

Author

Lee, Kok-Meng

Author_Institution

George W. Woodruff Sch. of Mech. Eng., Georgia Inst. of Technol., Atlanta, GA, USA

fYear

1999

fDate

1999

Firstpage

354

Lastpage

359

Abstract

This paper presents the design, modeling and analysis of a novel compliant mechanism for automating the process of transferring live objects from a moving conveyor to a moving processing line. Unlike industrial man-made objects, natural objects are typically characterized by varying sizes and shapes in batch processing and their natural reflexes (or voluntarily motion) contribute to the overall dynamics. The dynamic model of the manipulating system consists of two parts: the forces acting on the object and the natural reflexes of the live object to the manipulation. In this paper an analytical model is presented to predict the forces/moments acting on the live objects

Keywords

batch processing (industrial); food processing industry; force control; industrial manipulators; manipulator dynamics; manipulator kinematics; materials handling; real-time systems; batch processing; broilers; compliant grasping mechanism; dynamics; food processing industry; force control; kinematics; live object handling; manipulators; Analytical models; Automation; Birds; Feathers; Fingers; Injuries; Leg; Manipulator dynamics; Mechanical engineering; Shape;

fLanguage

English

Publisher

ieee

Conference_Titel

Advanced Intelligent Mechatronics, 1999. Proceedings. 1999 IEEE/ASME International Conference on

Conference_Location

Atlanta, GA

Print_ISBN

0-7803-5038-3

Type

conf

DOI

10.1109/AIM.1999.803192

Filename

803192