Title:
Cutting, ‘by Pressing and Slicing’, Applied to Robotic Cutting Bio-materials, Part I: Modeling of Stress Distribution
Cutting, ‘by Pressing and Slicing’, Applied to Robotic Cutting Bio-materials, Part I: Modeling of Stress Distribution
Authors
Zhou, Debao
Claffee, Mark R.
Lee, Kok-Meng
McMurray, Gary V.
Claffee, Mark R.
Lee, Kok-Meng
McMurray, Gary V.
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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.
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Date Issued
2006-05
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