Title:
Design of a low cost, high speed robot for poultry processing

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dc.contributor.advisor Lipkin, Harvey
dc.contributor.author Anderson, Eric William en_US
dc.contributor.committeeMember Ebert-Uphoff, Imme
dc.contributor.committeeMember Book, Wayne J.
dc.contributor.department Mechanical Engineering en_US
dc.date.accessioned 2005-03-02T22:45:13Z
dc.date.available 2005-03-02T22:45:13Z
dc.date.issued 2004-08-10 en_US
dc.description.abstract In poultry plants in the United States, a water chiller is used to chill WOGs (de-feathered birds without giblets). After exiting the chiller these birds are manually transferred from a conveyor belt to shackles for further processing. The current process is less than ideal. The labor pool for jobs such as these is continuing to shrink and labor turnover is a constant problem. The rates of repetitive motion injury reported are high and are continuing to rise. In addition, many poultry producers see this as a bottleneck in the process. Automation has the potential to alleviate these problems. The high variability of this task, cost restrictions, and special design considerations associated with meat handling equipment make automation of this task challenging. Industrial robots have traditionally been limited to tasks with low variability. This task has high variability. They are presented on the conveyor belt in a wide variety of positions and orientations. Most robotic automation systems consist of a commercially available industrial robot, a specialized end effector and a control scheme. The economics of this task prohibit the use of a commercially available industrial robot, as there are no industrial robots on the market that will offer a short enough payback. Robots have not yet been adapted to meat handling processes, and existing robotic designs are not well suited to the task. In designing a low cost, high-speed robot for poultry processing the requirements of the robot are defined and a variety of robot architectures, constructions, and materials are explored. Simple modifications to the existing shackle and conveyor setup to make the task easier for a robot are also explored. After the robot requirements are defined a large group of possible designs are developed. The possible designs are systematically evaluated and/or eliminated until a single design is selected. The forward and reverse kinematics for this robot are developed. A singularity analysis is carried out. A proof of concept model is built. A prototype is modeled and a dynamic analysis of that prototype is carried out. The design is finalized based on the results of the dynamic analysis. en_US
dc.description.degree M.S. en_US
dc.format.extent 10960793 bytes
dc.format.mimetype application/pdf
dc.identifier.uri http://hdl.handle.net/1853/5105
dc.language.iso en_US
dc.publisher Georgia Institute of Technology en_US
dc.subject Robotics en_US
dc.subject Automation
dc.subject Parallel robot
dc.subject Poultry processing
dc.subject.lcsh Robots, Industrial Design and construction en_US
dc.subject.lcsh Parallel robots Design and construction en_US
dc.subject.lcsh Poultry Processing Automation en_US
dc.title Design of a low cost, high speed robot for poultry processing en_US
dc.type Text
dc.type.genre Thesis
dspace.entity.type Publication
local.contributor.corporatename George W. Woodruff School of Mechanical Engineering
local.contributor.corporatename College of Engineering
relation.isOrgUnitOfPublication c01ff908-c25f-439b-bf10-a074ed886bb7
relation.isOrgUnitOfPublication 7c022d60-21d5-497c-b552-95e489a06569
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