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We describe the development of a novel soft gripper with pneumatically articulated fingers and palm designed for the pick and place operations of raw chicken to aid with the shortage of human workers that currently perform this task. The gripper was attached to an industrial robot and tested by picking raw chicken parts moving along a conveyor and placing those parts into trays. Four different parts were tested over 250 times each for a total of more than 1000 trials. Over the course of these trials the gripper saw an overall success rate of 63.57% across a range of pressures, with success rates around 95% at optimal pressures.

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Soft Robot Palmar Gripper for Raw Chicken Part Handling

  • 会议论文

  • 发表日期：

    2025年

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  • Henry G. Rutland IV,
  • Ian Walker

摘要

We describe the development of a novel soft gripper with pneumatically articulated fingers and palm designed for the pick and place operations of raw chicken to aid with the shortage of human workers that currently perform this task. The gripper was attached to an industrial robot and tested by picking raw chicken parts moving along a conveyor and placing those parts into trays. Four different parts were tested over 250 times each for a total of more than 1000 trials. Over the course of these trials the gripper saw an overall success rate of 63.57% across a range of pressures, with success rates around 95% at optimal pressures.