Person:
Lee, Kok-Meng

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Publication Search Results

Now showing 1 - 3 of 3
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    Automation of Bird Front Half Deboning Procedure: Design and Analysis
    (Georgia Institute of Technology, 2007-06) Zhou, Debao ; Holmes, Jonathan ; Holcombe, Wiley ; Lee, Kok-Meng ; McMurray, Gary
    Bio -material cutting, such as meat deboning, is one of the most common operations in the food processing industry. It is also the largest employer of people in the United States. These tasks are currently manual processes with only limited use of fixed automation. The main difficulty in this task is the natural variability of the product's size and individual anatomy. The industry is looking to robotics to help solve these problems. This research has focused on automating the cutting of chicken front halves to obtain high quality breast meat. In order to specify the cutting locations and cutting trajectories on chicken front halves, in this paper, the anatomy structure of the chicken shoulder joint was studied first. Then a 2-DOF cutting mechanism was proposed. Through the formulation of the kinematics and dynamics of the mechanism, the cutting trajectory was simulated. Pneumatic actuators with position feedback sensors were selected as the driven system. To verify whether the pneumatic driving system could satisfy the trajectory following requirements (speed and response time), experiments were carried out. The results show that the pneumatics driven system can marginally follow the desired trajectory with enough speed for the adaptation motion. The device will be built and tested in our future research.
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    Cutting, ‘by Pressing and Slicing’, Applied to Robotic Cutting Bio-materials, Part I: Modeling of Stress Distribution
    (Georgia Institute of Technology, 2006-05) Zhou, Debao ; Claffee, Mark R. ; Lee, Kok-Meng ; McMurray, Gary V.
    Bio-material cutting, such as meat deboning, is one the most common operations in food processing. Automating this process using robotic devices with closed-loop force control has shown some promise. The control of the force trajectory directly relates to the internal stress in the material being cut, and must provide enough force to initiate the cut. The ability to model the stress distribution in the bio-materials being cut would provide a better understanding of the influencing factors and help predict the required cutting force for the design of the cutting mechanism and for automating the cutting operations. This research is presented in two parts: part I models the stress distribution when a blade acts on the bio-material and part II discusses the principles of biomaterial cutting. Starting with modeling a point force in the normal and tangential direction on the boundary of a semi -infinite body, an analytical expression for the stress tensor has been obtained and simulated using direct integral method. This paper provides the theoretical basis for explaining the cutting phenomena and predicting the cutting forces, a topic to be presented in Part II.
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    Cutting, ‘by Pressing and Slicing’, Applied to the Robotic Cut of Bio-materials, Part II: Force during Slicing and Pressing Cuts
    (Georgia Institute of Technology, 2006-05) Zhou, Debao ; Claffee, Mark R. ; Lee, Kok-Meng ; McMurray, Gary V.
    The applications of robotics are becoming more and more common in non-traditional industries such as the medical industry including robotic surgery and sample microtoming as well as food industry that include the processing of meats, fruits and vegetables. In this paper, the influence of the blade edgeshape and its slicing angle on the cutting of biomaterials are formulated and discussed based on the stress analysis that has been presented in Part I. Through modeling the cutting force, an optimal slicing angle can be formulated to maximize the feed rate while minimizing the cutting forces. Moreover, the method offers a means to predict cutting forces between the blade and the biomaterials, and a basis for design of robust force control algorithms for automating the cutting of biomaterials.