A Human-Inspired Linear Scoop Gripper and Grasping Framework for Manipulation of Thin Deformable Food Products

Kurzfassung

Handling raw products in supermarkets is still nowadays a typically manual task. First steps toward automation of these actions are being taken, typically for large production volumes with tailored solutions in well controlled environment. This paper presents a parallel mechanism robotic gripper capable of gripping by scooping and caging deformable fresh-produce like fish and meat as part of an automated logistic delivery chain with high mix low volume. The design motivation has been derived from human pick and place strategies to achieve flexible and robust capabilities in an unstructured environment. The gripper is designed using a variable stiffness actuator, to provide the delicacy required to handle the products without damaging them. Human experiments also provide input to a grasp planning framework to pick the best suited grasp strategy and position for a given object in a given surrounding. Finally, extensive testing of the gripper and grasping framework in lab and industrial conditions demonstrate its suitability for production in the real world setting.