A Bernoulli principle gripper for handling of planar and 3D (food) products

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 ...