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Titre du document / Document title

Robotic cell for beef carcass primal cutting and pork ham boning in meat industry

Auteur(s) / Author(s)

GUIRE Grégory (1) ; SABOURIN Laurent (1) ; GOGU Grigoré (1) ; LEMOINE Eric (2) ;

Affiliation(s) du ou des auteurs / Author(s) Affiliation(s)

(1) Laboratoire de Mécanique et Ingénierie, Clermont Université, Clermont-Ferrand, FRANCE
(2) ADIV Association, Clermont-Ferrand, FRANCE

Résumé / Abstract

Purpose - The mechanization of the meat cutting companies has become essential. This paper aims to study the feasibility of cutting operations for beef and boning operations for pork ham. The study aims to enhance industrial robots application by using vision or force control. Design/methodology/approach - The paper opted for an industrial robot-based cell. The first part of this paper focuses on in-depth study of operators' expertise, so as to translate their actions into automatable operative tasks and to identify the constraints of robotization. It details more particularly a cutting strategy using a bone as a guide which shows the complexity of the process. The analysis of the cutting and task constraint parameters involves the use of a kinematically redundant robotized cell with force control. Then the cell model is developed, and experimentation is performed. Findings - The paper explains how to solve the problem of the high variability of the size for beef carcass. It gives several ideas to realize the boning of pork ham. It develops the strategies, the sensors and the cell architecture to make this type of operations. Research limitations/implications - Because of the choice of an existing industrial robot, the tool paths with force control are limited. Therefore, new force control instructions have to be developed to continue this work on more complicated operations. Practical implications - This study was carried out within the framework of the SRDViand project in cooperation with meat industry partners. Originality/value - The paper fulfils an identified need to study the beef quartering which is a high-variability operation and ham deboning which is a high precision operation.

Revue / Journal Title

Industrial robot    ISSN  0143-991X   CODEN IDRBAT 

Source / Source

2010, vol. 37, no 6 (77 p.)  [Document : 10 p.] (3/4 p.), pp. 532-541 [10 page(s) (article)]

Langue / Language

Anglais

Editeur / Publisher

Emerald, Bingley, ROYAUME-UNI  (1973) (Revue)

Mots-clés anglais / English Keywords

Measurement sensor

;

Experimental study

;

Modeling

;

Variability

;

Redundancy

;

Operating conditions

;

Osteoarticular system

;

Robot vision

;

Industrial robot

;

Feasibility

;

Butchery

;

Mechanization

;

Cutting

;

High precision

;

Optimal trajectory

;

Human

;

Expertise

;

Force control

;

Robotics

;

Mots-clés français / French Keywords

Capteur mesure

;

Etude expérimentale

;

Modélisation

;

Variabilité

;

Redondance

;

Condition opératoire

;

Système ostéoarticulaire

;

Vision robot

;

Robot industriel

;

Faisabilité

;

Boucherie

;

Mécanisation

;

Découpage

;

Précision élevée

;

Trajectoire optimale

;

Homme

;

Expertise

;

Commande force

;

Robotique

;

Mots-clés espagnols / Spanish Keywords

Captador medida

;

Estudio experimental

;

Modelización

;

Variabilidad

;

Redundancia

;

Condición operatoria

;

Sistema osteoarticular

;

Robot industrial

;

Practicabilidad

;

Carnicería

;

Mecanización

;

Troquelado

;

Precisión elevada

;

Trayectoria óptima

;

Hombre

;

Peritaje

;

Control fuerza

;

Robótica

;

Mots-clés d'auteur / Author Keywords

Robotics meat

;

Food industry

;

Manufacturing equipment

;

Control technology

;

Localisation / Location

INIST-CNRS, Cote INIST : 18235, 35400019489708.0070

Nº notice refdoc (ud4) : 23623482



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