The Study about Mechanic Conditions of Low Load Picking of Weak Objects by Passively Deformable Soft Hand

Currently handling of weak and soft food by robotic system is not widely used in food factories, because it is difficult to pick and place the weak food without any damages by using conventional robotic hands. Some passively deformable soft hand for such weak objects has been proposed. However it is still difficult to apply such weak foods. This study uses a deformable hand with soft bag filled with the air. The air pressure inside the bag is controlled properly. When picking the weak objects quickly using this hand, the objects may be damaged by large acceleration of the picking motion. This study investigates conditions of lowest force to the objects when picking up without any damage. The load force values are measured for tangential direction considering contacting force of the soft bag hand and the weak objects.