Cutting, ‘by Pressing and Slicing’, Applied to Robotic Cutting Bio-materials, Part I: Modeling of Stress Distribution

Zhou, Debao; Claffee, Mark R.; Lee, Kok-Meng; McMurray, Gary V.

Title:

Cutting, ‘by Pressing and Slicing’, Applied to Robotic Cutting Bio-materials, Part I: Modeling of Stress Distribution

dc.contributor.author	Zhou, Debao
dc.contributor.author	Claffee, Mark R.
dc.contributor.author	Lee, Kok-Meng
dc.contributor.author	McMurray, Gary V.
dc.contributor.corporatename	Georgia Institute of Technology. Center for Robotics and Intelligent Machines
dc.contributor.corporatename	Georgia Institute of Technology. School of Mechanical Engineering
dc.contributor.corporatename	Georgia Tech Research Institute
dc.date.accessioned	2011-10-13T15:58:17Z
dc.date.available	2011-10-13T15:58:17Z
dc.date.issued	2006-05
dc.description	©2006 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other users, including reprinting/ republishing this material for advertising or promotional purposes, creating new collective works for resale or redistribution to servers or lists, or reuse of any copyrighted components of this work in other works.	en_US
dc.description	Presented at the 2006 IEEE International Conference on Robotics and Automation (ICRA), 15-19 May 2006, Orlanda, Florida.
dc.description	DOI: 10.1109/ROBOT.2006.1642141
dc.description.abstract	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.	en_US
dc.identifier.citation	Zhou, D., Claffee, M.R., Lee, K-M., & McMurray, G.V. (2006). "Cutting, ‘By Pressing and Slicing’, Applied to Robotic Cutting Bio-materials. I. Modeling of Stress Distribution". Proceedings of the IEEE International Conference on Robotics and Automation (ICRA 2006), 15-19 May 2006, 2896-2901.	en_US
dc.identifier.uri	http://hdl.handle.net/1853/41821
dc.language.iso	en_US	en_US
dc.publisher	Georgia Institute of Technology	en_US
dc.publisher.original	Institute of Electrical and Electronics Engineers
dc.subject	Biomaterial	en_US
dc.subject	Modeling	en_US
dc.subject	Robot cutting	en_US
dc.subject	Stress	en_US
dc.title	Cutting, ‘by Pressing and Slicing’, Applied to Robotic Cutting Bio-materials, Part I: Modeling of Stress Distribution	en_US
dc.type	Text
dc.type.genre	Post-print
dc.type.genre	Proceedings
dspace.entity.type	Publication
local.contributor.author	Lee, Kok-Meng
local.contributor.corporatename	Georgia Tech Research Institute (GTRI)
local.contributor.corporatename	Institute for Robotics and Intelligent Machines (IRIM)
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