Intelligent Cutting and Handling

Project Director:
Gary McMurray
gary.mcmurray@gtri.gatech.edu

The intelligent cutting and handling project focused on two important automation developments: a “smart” deboning system and an automated handling system for post-chiller rehang.

The “smart” or intelligent deboning system research made great strides in showing that robotic devices with closed-loop force and vision control elements can provide repeatable and accurate cutting results. The cutting trajectory in this control loop is influenced by the elasticity of the meat, which makes traditional position control difficult to implement. The team further explored the influences of the knife parameters as well as the material properties of meat, tendons, and bone on cutting force feedback. The team also developed models to utilize this information as part of a control feedback loop. Initial testing of the cutting models has been very positive. The team has also been actively collecting data on bird size variability and its influences on optimal cutting path and the range of motions required to perform the wing cut. The concept is to use the flexibility of the robot to allow the system to automatically compensate for the natural size variations of the bird and thus eliminate the need for any sorting based on weight.

The intelligent handling project focused on developing both a robotic and non-robotic handling system for post-chiller rehanging. The robotic system study is now working with a newly acquired KUKA stainless steel robot, one of the few commercial units in the world that is actively employed in meat processing operations. The design team has developed an integrated 3D imaging cell to provide position and product orientation information to help control the unit and a custom-designed endeffector that can handle a wide range of bird sizes while conforming to U.S. Department of Agriculture (USDA) cleanability requirements. The non-robotic system study has focused on building a device that employs more conventional automation design concepts, such as feed conveyors and flip paddles, to tackle the challenge. The system does employ a computer imaging system to help control the process. Preliminary tests have been very positive.