Experimental Verification of Vibration-Based Release for a Sticky-Food Handling Gripper

In food processing sites, many tasks are still performed manually by workers, and automation through robotics is in high demand. However, research on the release motion of grasped objects remains limited, and the tendency of highly adhesive food materials to stick or remain on grippers has become a major obstacle to automation. In this study, multiple food release methods were compared and examined to ensure the reliable release of grasped food items. Based on the conditions of practically implemented combination weighing machines, particular attention was given to the method of vibrating the gripper fingers. we used a crank mechanism to induce vibrations for experiments involving pork slices laid on metal rods (modeled after the fingers of the Tsummori- Hand), while varying the vibration amplitude, frequency, and angle. The results demonstrated that vibrations exceeding a certain amplitude threshold effectively induced detachment of the adhered material. Furthermore, both higher vibration frequencies and larger vibration angles were found to enhance the release efficiency.