Robotic grippers for large and soft object manipulation

摘要

Grasping has always been considered a key domain of cyber-physical systems, through which action physical interaction can be achieved. This paper presents a systematic review of the state-of-the-art robotic soft object gripping solutions aimed for the food-industry, focusing on red meat handling. A categorized analysis about the currently used grippers is provided, that could be used or adapted to robotic meat-processing. The paper enlists various solutions and gripping principles for low-payload applications too, although the emphasis is on the classic shape-locking and force-locking grippers that are potentially capable of grasping and manipulating heavier specimens. The purpose of the scientific literature survey is mainly to identify exceptional and/or remarkable gripper-designs, or completely new gripping concepts, while the patent research presents complete, commercially available solutions.