Scholarlink

<p>Robotic systems are being introduced in the restaurant industry to address labor shortages and reduce costs, including of dishwashing tasks in large-scale cafeterias. This study focuses on automating the collection and pre-washing of tableware, which are tasks that are currently performed manually at high speed in constrained environments. Designing grippers for such environments is challenging because of the interrelated requirements of contact tolerance with the surroundings, vibration suppression during high-speed motion, sufficient gripping force, adequate opening/closing range, and water resistance. To address these issues, we propose rigid fingertips connected only to bellows actuators (RFCOBA)-Gripper. This design enables high-speed gripping of the tableware and impact absorption. Additionally, we present a design procedure that separates interrelated requirements as much as possible based on the task specifics, ensuring that each requirement is met effectively. We developed a high-speed tableware collection and pre-washing system incorporating the RFCOBA-Gripper and confirmed its effectiveness through validation experiments in actual cafeteria settings.</p>

错误：搜索内容不能为空，请输入英文关键词
错误：关键词超出字数限制，请精简
高级检索

High-speed tableware collection/pre-washing robotic system with rigid fingertips connected only to bellows actuators gripper

  • 期刊论文

  • 发表日期：

    2025年6月23日

查看全文
  • Yoshiki Mori,
  • Koji Matsuno,
  • Zhongkui Wang,
  • Sadao Kawamura

摘要

Robotic systems are being introduced in the restaurant industry to address labor shortages and reduce costs, including of dishwashing tasks in large-scale cafeterias. This study focuses on automating the collection and pre-washing of tableware, which are tasks that are currently performed manually at high speed in constrained environments. Designing grippers for such environments is challenging because of the interrelated requirements of contact tolerance with the surroundings, vibration suppression during high-speed motion, sufficient gripping force, adequate opening/closing range, and water resistance. To address these issues, we propose rigid fingertips connected only to bellows actuators (RFCOBA)-Gripper. This design enables high-speed gripping of the tableware and impact absorption. Additionally, we present a design procedure that separates interrelated requirements as much as possible based on the task specifics, ensuring that each requirement is met effectively. We developed a high-speed tableware collection and pre-washing system incorporating the RFCOBA-Gripper and confirmed its effectiveness through validation experiments in actual cafeteria settings.