Basic Consideration on Robotic Food Handling by Using Burger Model

This paper discusses a design approach on robotic food handling by considering the characteristics of viscoelasticity. We pick up Norimaki as a typical example with the viscoelastic characteristics. We first show that the dynamic characteristics of Norimaki can be expressed by utilizing the Burger model. After testing the parameter sensitivity, we show an example of the optimum design for determining the combination of the hand stiffness and the operating velocity. We further show that the resultant plastic deformation can be formulated with the exact solution.

[1]  N. Mohsenin.  Physical properties of plant and animal materials , 1970 .

[2]  S. Tokumoto.  Constructing Virtual Rheological Objects , 2001 .

[3]  Kazuaki Iwata,et al.  Modeling of deformable thin parts for their manipulation , 1994, Proceedings of the 1994 IEEE International Conference on Robotics and Automation.

[4]  Toshio Tsuji,et al.  An Optimum Design of Robotic Hand for Handling a Visco-elastic Object Based on Maxwell Model , 2007, Proceedings 2007 IEEE International Conference on Robotics and Automation.

[5]  Shinichi Hirai,et al.  Robust Manipulation of Deformable Objects Using Model Based Technique , 2000, AMDO.

[6]  Mark H. Lee,et al.  Applying vision guidance in robotic food handling , 1996, IEEE Robotics Autom. Mag..

[7]  Paul M. Taylor.  Sensory Robotics for the Handling of Limp Materials , 1990, NATO ASI Series.

[8]  Yuan F. Zheng,et al.  Strategies for automatic assembly of deformable objects , 1991, Proceedings. 1991 IEEE International Conference on Robotics and Automation.