食品ハンドリングのための力学特性計測装置開発

抄録

Automation in food industry is not progressing as quickly as automotive and electronics industries due to the difficulties of handling food products with variations in physical properties. Currently, there is not effective database of food property for the purpose of robotic handling. Therefore, in this study, we developed a device for measuring food properties by mimicking the actual scenario of a robotic gripper handling a food product. The device consists of a robotic gripper, two linear stages, a 6-axis force sensor, a camera, and aluminum frame. The robotic gripper can realize position and force control, and the device can measure geometry, elasticity, and friction coefficient. Experimental tests on shrimp tempura were performed and the results showed the effectiveness of the device.