Kinematics Analysis and Trajectory Planning of Segmentation Robot for Chilled Sheep Carcass

Abstract

HighlightsAn automatic sheep segmentation robot system was developed to realize the automatic segmentation of chilled sheep carcass and improve the segmentation efficiency.The mechanical properties of mutton and lamb ribs were analyzed.The motion model of robot was established and the cutting path of sheep carcass was designed.Accurate segmentation of sheep carcass was realized.Abstract. With the quick development of animal husbandry, it is imperative to switch from extensive management to intensive operation. To improve the automation and quality of mutton segmentation, an automatic sheep segmentation robot system was developed in this article, which realizes the automatic segmentation of chilled sheep carcass and improves the segmentation efficiency of chilled sheep carcass. According to the technological requirements of sheep carcass segmentation, the cutting procedure of slaughtering chilled fresh sheep carcass was designed and the three-dimensional model of chilled fresh sheep carcass was established in reverse. A chilled fresh sheep carcass clamp was designed based on the characteristics of the profiling structure. Then the mechanical characteristics of chilled fresh mutton and sheep ribs were analyzed. Specifically, considering that the carcass of chilled fresh sheep is a viscous body, the shear test of chilled fresh mutton tissue was carried out. Thus, the kinematics model of segmentation robot was established. The workspace of the slaughtering robot was analyzed. Furthermore, the dynamic model of a slaughtering robot was established. The cutting track of the segmentation robot was designed and the sheep carcass cutting experiment was completed on the segmentation robot system. The mass of sheep carcass before and after cutting were 15.3 and 14.9 kg, respectively. The loss rate during cutting was 2.61%, which indicates the incision was smooth and the sheep carcass segmentation was accurate. The effectiveness of the sheep carcass segmentation robot was proved by experimental results. Keywords: Cutting force, Reverse modeling, Sheep contour, Segmentation robot, Trajectory planning.