TY - JOUR
T1 - DEXDEB - application of DEXtrous robotic hands for DEBoning operation
AU - Wei, Guowu
AU - Stephan, Franck
AU - Aminzadeh, Vahid
AU - Würdemann, Helge
AU - Walker, Rich
AU - Dai, Jian
AU - Gogu, Grigoré
PY - 2014
Y1 - 2014
N2 - 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 humanrobot co-working hyper-flexible cell.
AB - 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 humanrobot co-working hyper-flexible cell.
KW - Deboning operation
KW - Dexterous robotic hand
KW - Hyper-flexible cell
KW - Metamorphic hand
KW - Robot-human co-working
UR - http://www.scopus.com/inward/record.url?scp=84926658304&partnerID=8YFLogxK
U2 - 10.1007/978-3-319-03838-4_11
DO - 10.1007/978-3-319-03838-4_11
M3 - Article
AN - SCOPUS:84926658304
SN - 1610-7438
VL - 94
SP - 217
EP - 235
JO - Springer Tracts in Advanced Robotics
JF - Springer Tracts in Advanced Robotics
ER -