DEXDEB – Application of DEXtrous Robotic Hands for DEBoning Operation

  • Guowu Wei
  • Franck Stephan
  • Vahid Aminzadeh
  • Helge Würdemann
  • Rich Walker
  • Jian S. Dai
  • Grigoré Gogu
Conference paper
Part of the Springer Tracts in Advanced Robotics book series (STAR, volume 94)

Abstract

This paper presents for the first time an application Investigation of using dexterous robotic hands for deboning operation so as to establish a human-robot co-working platform for cutting, deboning and muscle extraction operation in meat industry. By setting up a test rig consisting of a support and a customized knife integrated with force sensors, and utilizing a modified data glove, manual ham deboning operations are carried out providing essential information and background for the robotic hand design, appropriate force/torque and position sensors identification, and human-robot co-working platform trajectory planning. Principle component analysis method is then employed for trajectory mapping and planning associated with the knife peak coordinates, and concept of force cone is introduced leading to an efficient algorithm for trajectory planning. Further, design and kinematics of a metamorphic hand are investigated laying a background for measuring manipulation and grasp quality of the proposed robotic hand. The above experimental, theoretical, hardware and software preparations finally lead to the applications of using two dexterous robotic hands, i.e. one Shadow C6M left hand and one KCL metamorphic hand to replace human left hand in deboning operation. The experiment thus laid background work for the robotization of meat industry and gave insight into the benchmarking of utilizing dexterous hand in deboning operation constructing a human-robot co-working hyper-flexible cell.

Keywords

Dexterous robotic hand metamorphic hand deboning operation robot-human co-working hyper-flexible cell 

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Copyright information

© Springer International Publishing Switzerland 2014

Authors and Affiliations

  • Guowu Wei
    • 1
  • Franck Stephan
    • 2
  • Vahid Aminzadeh
    • 1
  • Helge Würdemann
    • 1
  • Rich Walker
    • 3
  • Jian S. Dai
    • 1
  • Grigoré Gogu
    • 2
  1. 1.Centre for Robotics ResearchKing’s College LondonLondonUnited Kingdom
  2. 2.Pascal Institute, French Institute for Advanced MechanicsBlaise Pascal University/CNRSAubière CedexFrance
  3. 3.Shadow Robot Company LTD.LondonUnited Kingdom

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