Abstract
This paper presents a dynamic analysis of an innovative live-bird transfer system (LBTS). The LBTS uses compliant fingers to grasp live birds on a moving conveyor for subsequent handling. As compared to fingers with multiple active joints, flexible fingers have many merits, such as lightweight and no relative moving parts. The flexibility to accommodate a limited range of varying sizes and shapes, and the natural reactions of some objects makes rubber fingers an attractive candidate for use as a grasper in a high-speed production setting. However, the advantages of flexible fingers are seldom exploited for grasping because of the complex analysis involved in the design. For this reason, we develop an analytical model to provide a rational basis for predicting contact forces, optimizing grasping system designs, and controlling the high-speed transfer system. It is expected that the analysis of the LBTS can be readily extended to other dynamic systems involving the use of flexible fingers.
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