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- Petterson, Anders, et al.
(författare)
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A Bernoulli principle gripper for handling of planar and 3D (food) products
- 2010
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Ingår i: Industrial robot. - : Emerald. - 0143-991X .- 1758-5791. ; 37:6, s. 518-526
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Tidskriftsartikel (övrigt vetenskapligt/konstnärligt)abstract
- Purpose - The purpose of this paper is the increase the flexibility of robots used for handling of 3D (food) objects handling by the development and evaluation of a novel 3D Bernoulli gripper. Design/methodology/approach - A new gripper technology have been designed and evaluated. A deformable surface have been used to enable individual product handling. The lift force generated and the force exerted on the product during gripping is measured using a material tester instrument. Various products are tested with the gripper. A experimental/theoretical approach is used to explain the results. Findings - A deformable surface can be used to generate a lift force using the Bernoulli principle on 3D objects. Using a small forming a significant increase in the lift force generated is recorded. Increasing the forming further was shown to have little or even negative effects. The forces exerted on the product during forming was measured to be sufficiently low to avoid product damage. Research limitations/implications - To be able to improve the grippers lift strength a better model and understanding of the flow is needed. Originality/value - A novel Bernoulli gripper for 3D Bernoulli gripping have been designed and evaluated. The gripper enables flexible and delicate handling of various product shapes, 3D as well as 2D. Increased utilization of robots in the food industry can be gained. © Emerald Group Publishing Limited [ISSN 0143-991X].
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| 2. |
- Pettersson, A., et al.
(författare)
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A hygienically designed force gripper for flexible handling of variable and easily damaged natural food products
- 2011
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Ingår i: Innovative Food Science & Emerging Technologies. - : Elsevier BV. - 1466-8564 .- 1878-5522. ; 12:3, s. 344-351
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Tidskriftsartikel (refereegranskat)abstract
- To overcome present difficulties in robotized food handling a force sensing robot gripper for flexible production is presented. A magnetic coupling is used to completely encapsulate the actuator mechanism, improving hygiene and enabling a future hose-down proof design. Product location, orientation and product type and width are extracted by a vision system to aid the gripping process. Knowing the product type the grip force is set individually for each product. In the paper data of achievable grip strength, positioning accuracy and gripping times for force controlled gripping are presented. Grip times of 410-530 ms for grip forces of 50-700 g respectively are realized. An initial microbiology study on a model system showed that an intermediate decontamination can be used to reduce the cross contamination of Listeria innocua (SIK215) significantly. The gripper is further shown to be able to handle an in-feed mixture of tomatoes, apples, carrots, broccoli and grapes without intermediate adjustments. Industrial relevance: This paper covers the development and evaluation of a hygienically designed universal robot food gripper. The gripper enables an increased use of robots in the food industry and makes very flexible production with minimal changeover times possible. © 2011 Elsevier Ltd. All rights reserved.
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| 3. |
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| 4. |
- Sonesson, Ulf, et al.
(författare)
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Home transport and wastage : Environmentally relevant household activities in the life cycle of food
- 2005
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Ingår i: Ambio. - 0044-7447 .- 1654-7209. ; 34:42099, s. 371-375
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Tidskriftsartikel (refereegranskat)abstract
- In environmental systems analysis of food production systems, the consumer phase (home transport, cooking, storing, and wastage) is an important contributor to the total life-cycle environmental impact. However, households are the least investigated part of the food chain. Information gathering about households involves difficulties; the number of households is large, and food-related activities are embedded in other household activities. In cooperation between researchers from environmental systems analysis and consumer research, Swedish households were surveyed by questionnaire, diary, and interviews. Data on home transport of food and wastage were collected. The average weekly driving distance was 28 to 63 km per household, depending on how trips made in conjunction with other errands are allocated. The wastage of prepared food ranged between 0 and 34% for different food categories, and wastage from storing between 0 and 164% (more food was discarded, e.g. by cleaning out a cupboard, than consumed). In both cases dairy products scored highest. © Royal Swedish Academy of Sciences 2005.
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