A non-contact end effector for robotic handling of non-rigid materials

The handling and packaging of food products are generally very labour intensive processeswhere the risk of product contamination is high. Cost-effective automatic handling of suchproducts is becoming an increasingly important issue, particularly for ready-meals, in orderto eliminate the risk of contamination via human contact and to reduce the unit cost of thefinal product. A major handicap associated with using automation in the food sector is alack of suitable robot end effectors. The majority of end effectors used for electromechanicalparts are not applicable, because, non-rigid food products have somewhatunpredictable and unstable behaviour characteristics which arises from their natural physicalproperties.The main aim of this project was to develop a novel non-contact end effector that canhandle non-rigid products. A range of novel end effectors have been designed, developedand tested. These end effectors use compressed air and take advantage of the radial airoutflow phenomena. These end effectors have advantages over the conventional endeffectors of lifting flat, thin, porous materials with viscous or slippery surfaces withoutmechanical contact.This thesis discusses hygiene, mechanical properties and delicacy of food products from thehandling point of view. A literature survey on the radial air outflow and the application fieldsof the radial air outflow is discussed in detail. The end effectors (grippers) which have been developed and used in the assembly of electro-mechanical parts are discussed with regardsto their usage in handling non-rigid food products.The theoretical analysis of the radial air outflow phenomena and lifting equilibrium of a flatobject, by using lifting forces created by the radial air outflow, is given in detail. The designconsiderations for the radial air outflow nozzles and the number and configuration of thesenozzles are described regarding the shape, compliance and weight of the materials to belifted. The experimental program and procedures carried out during this research are alsopresented.The results of the experimentation, using rigid and non-rigid materials, are comprehensivelydiscussed from an applications point of view in terms of a practical handling environment.During experimentation materials such as aluminium (as a rigid material) and jelly, slicedmeat and fabric (as non-rigid and porous materials) have been used. The mechanicalproperties of rigid and non-rigid materials to be lifted are also discussed for handlingpurposes. For the first time, the design considerations of a novel radial outflow nozzle forporous and delicate materials are introduced. The advantages and disadvantages of the noncontactend effector over conventional end effectors are discussed from the non-rigidmaterial handling point of view. An operational sequence and a conceptual application ofsuch a novel non-contact end effector in a practical handling environment are introduced.In the final part of this thesis, conclusions are made and recommendations given, boththeoretically and practically, to further extend the research.

Level dc:type.qualificationlevel

Doctoral (Level 8)

Year dc:date.issued

1995

Author dc:creator

• Erzincanli, F

Language dc:language

en

Identifier

oai:salford-repository.worktribe.com:1338479

OAI identifier oai:identifier

oai:salford-repository.worktribe.com:1338479