(Georgia Institute of Technology, 1999-09)
Daley, Wayne; He, Tian; Lee, Kok-Meng; Sandlin, Melissa
One critical area in automation for commercial deboning
systems for meat processing, is the inability of existing equipment to
adapt to varying sizes and shapes of products. This usually results
in less than desirable outcomes when measured in terms of yield of
the operations. In poultry processing for example, the initial cut of
wing-shoulder joints is the most critical step in the deboning
process. Two approaches for determining a trajectory for the cut is
presented. The first is a technique using x-ray and visual images to
obtain a 2-D model that locates the shoulder joint with respect to
the surface features of the product. The second approach is
obtained by determining a 3-D cutting trajectory and the associated
forces/torques using a motion analysis system and a force/torque
sensor incorporated with a knife. We then discuss the potential
application of these results in the design of an automated cutting
system that uses the obtained trajectory as a nominal cutting path.
The system would make'adjustments during the cut using force
feedback so as to emulate the manual cutting process.