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Soft Peristaltic Actuation for the Harvesting of Ovine Offal

  • Conference paper
Robot Intelligence Technology and Applications 3

Part of the book series: Advances in Intelligent Systems and Computing ((AISC,volume 345))

Abstract

Many tasks in lamb meat processing have been automated by mechatronic systems during the past years. However, the extraction of edible organs from the unordered organ package has remained a challenge. Traditional sensing methods and hard robotic effectors are not suitable for the slippery and deformable tissue in varying geometric constellations. In this paper, we propose a soft peristaltic method to bring the organ package into the optimal configuration for the removal of single organs. We give a system overview, discuss its viability, and point out the challenges in its implementation.

A deformable xy-sorting table is proposed to order the organ package. By producing moving wave shapes on its surface, the table changes the geometric configuration of the organs as perceived and controlled by a machine vision module. When an organ is in the optimal position, it is picked up and removed by traditional robotic solutions.

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Author information

Authors and Affiliations

  1. Department of Electrical and Electronics Engineering, Auckland University of Technology, Auckland, New Zealand

    M. Stommel

  2. Department of Mechanical Engineering, The University of Auckland, Auckland, New Zealand

    W. L. Xu

  3. Callaghan Innovation, 24 Balfour Rd, Auckland, 1052, New Zealand

    P. P. K. Lim & B. Kadmiry

Authors
  1. M. Stommel
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  2. W. L. Xu
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  3. P. P. K. Lim
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  4. B. Kadmiry
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Corresponding author

Correspondence to M. Stommel .

Editor information

Editors and Affiliations

  1. Div. Electrical Engineering, Korea Advanced Institute of Science & Technology (KAIST), Daejeon, Korea, Republic of (South Korea)

    Jong-Hwan Kim

  2. College of Mechanical and Electrical Engineering, Beijing University of Chemical Technology, Beijing, China

    Weimin Yang

  3. School of Information and Communication Technology, Griffith University, Gold Coast, Australia

    Jun Jo

  4. Center for Intelligent Technologies, Technical University of Kosice, Kosice, Slovakia

    Peter Sincak

  5. Civil and Environmental Engg., KAIST, Daejeon, Korea, Republic of (South Korea)

    Hyun Myung

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Stommel, M., Xu, W.L., Lim, P.P.K., Kadmiry, B. (2015). Soft Peristaltic Actuation for the Harvesting of Ovine Offal. In: Kim, JH., Yang, W., Jo, J., Sincak, P., Myung, H. (eds) Robot Intelligence Technology and Applications 3. Advances in Intelligent Systems and Computing, vol 345. Springer, Cham. https://doi.org/10.1007/978-3-319-16841-8_54

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  • DOI: https://doi.org/10.1007/978-3-319-16841-8_54

  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-16840-1

  • Online ISBN: 978-3-319-16841-8

  • eBook Packages: EngineeringEngineering (R0)

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