Abstract
Automating the lunch box packaging is a challenging task due to the high deformability and large individual differences in shape and physical property of food materials. Soft robotic grippers showed potentials to perform such tasks. In this paper, we presented four pneumatic soft actuators made of different materials and different fabrication methods and compared their performances through a series of tests. We found that the actuators fabricated by 3D printing showed better linearity and less individual differences, but showed low durability compared to actuators fabricated by traditional casting process. Robotic grippers were assembled using the soft actuators, and grasping tests were performed on soft paper containers filled with food materials. Results suggested that grippers with softer actuators required lower air pressure to lift up the same weight and generated less deformation on the soft container. The actuator made of casting process with Dragon Skin 10 material lifted the most weight among different actuators.
Highlights
In Japan, people often eat box lunches for the convenience and great varieties
The packaging of lunch boxes is still performed by human labors due to the fragility, variety, high deformability, and the individual differences in shape and physical property of food materials [1]
We experimentally tested the performance of different actuators under different air pressures and different soft grippers grasping the paper container filled with food materials
Summary
In Japan, people often eat box lunches for the convenience and great varieties. Every day, several million box lunches are produced and consumed in Japan. The packaging of lunch boxes is still performed by human labors due to the fragility, variety, high deformability, and the individual differences in shape and physical property of food materials [1]. The paper containers (Fig. 1b) usually have a frustum shape and highly deformable Picking and placing such containers filled with food materials is the main task for lunch box packaging. Yap et al [16] presented a high-force soft gripper fabricated using common 3D printer and fused deposition modeling (FDM) technology. This gripper is promising for handling heavy objects and it can lift a weight up to 5 kg with a maximum payload-to-weight ratio of 1805%. We presented another two grippers fabricated by traditional casting procedure
Sign-in/Register to view highlights & summary Sign-in/Register to access full text options 
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callDisclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
