可换爪抓手精准分拣杂乱食品，适配不同重量与形状。
Replaceable Bit-based Gripper for Picking Cluttered Food Items
- 设计可更换抓取头，针对不同食品定制抓手形态。
- 对鲑鱼籽和意大利面分别实现超80%和95%的重量精准投放。
- 快速换爪支持多品类食品连续处理，适合柔性包装产线。
食品包装行业对食品种类及重量的变化响应迅速，涵盖从单个易抓取食品到长条状、缠绕式复杂食品。本文提出一种可更换抓取头（bit）的夹持系统，以应对重量相关的杂乱食品抓取挑战。该系统配备专为特定食品设计的抓取附件（如针对鲑鱼籽和意大利面），并集成带式更换机制，可在包装过程中快速切换。系统具备多样控制能力，可精准抓取与释放颗粒状、缠绕状及粘连状食品。实验表明，该系统成功抓取了两种典型难题食品：鲑鱼籽（黏性颗粒状）与意大利面（长条粘连状），在重量特定投放上分别达到超过80%和95%的准确率。系统还展现出高效的抓取头切换能力，显著提升对多样化食品的适应性。
原文摘要 · Abstract (English)
The food packaging industry goes through changes in food items and their weights quite rapidly. These items range from easy-to-pick, single-piece food items to flexible, long and cluttered ones. We propose a replaceable bit-based gripper system to tackle the challenge of weight-based handling of cluttered food items. The gripper features specialized food attachments(bits) that enhance its grasping capabilities, and a belt replacement system allows switching between different food items during packaging operations. It offers a wide range of control options, enabling it to grasp and drop specific weights of granular, cluttered, and entangled foods. We specifically designed bits for two flexible food items that differ in shape: ikura(salmon roe) and spaghetti. They represent the challenging categories of sticky, granular food and long, sticky, cluttered food, respectively. The gripper successfully picked up both spaghetti and ikura and demonstrated weight-specific dropping of these items with an accuracy over 80% and 95% respectively. The gripper system also exhibited quick switching between different bits, leading to the handling of a large range of food items.
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