Development of noncontact end effector for handling of bakery products

Abstract

The application of automation for handling of nonrigid or semirigid products and air permeable materials is limited due to lack of suitable end effectors. The majority of robotic manipulators and end effectors are not easily applicable because of lack of contact rigidity with nonrigid or semirigid products due to their unpredictable and unstable behaviour and with materials which are sensitive to deformation, especially bakery products (baked and unbaked) in the biscuits industry (Erzincanli and Sharp, Food Control 8:185–190, 1997). Also, during the handling process, the risk of contamination is high due to direct contact with food products. Hence, the need for noncontact robotic end effectors is strongly felt. In this paper a noncontact type end effector having a rectangular cross-section designed for handling bakery products is discussed for use in the biscuits manufacturing industry. These end effectors operate on the principle of generating vacuum, which lifts the material without any mechanical contacts. The present work explores the possibility of using radial flow nozzles in the biscuits industry. The basic working principle is presented, followed by experimental results. An automatic noncontact end effector system may be found quite useful for the food handling industry.