The food packaging industry goes through changes in food items and their weights quite rapidly. These items range from easy-to-pick, single-piece food items to flexible, long and cluttered ones. We propose a replaceable bit-based gripper system to tackle the challenge of weight-based handling of cluttered food items. The gripper features specialized food attachments(bits) that enhance its grasping capabilities, and a belt replacement system allows switching between different food items during packaging operations. It offers a wide range of control options, enabling it to grasp and drop specific weights of granular, cluttered, and entangled foods. We specifically designed bits for two flexible food items that differ in shape: ikura(salmon roe) and spaghetti. They represent the challenging categories of sticky, granular food and long, sticky, cluttered food, respectively. The gripper successfully picked up both spaghetti and ikura and demonstrated weight-specific dropping of these items with an accuracy over 80% and 95% respectively. The gripper system also exhibited quick switching between different bits, leading to the handling of a large range of food items.

翻译：食品包装行业面临食品种类及其重量频繁变化的挑战。这些食品涵盖易于抓取的单体食品到柔韧、细长且杂乱堆积的品类。本文提出一种基于可替换夹爪头的夹爪系统，以应对杂乱食品基于重量的分拣难题。该夹爪系统配备专为食品设计的可替换夹持头，以增强抓取能力；其皮带式替换机制可在包装作业过程中快速切换不同食品的夹持头。系统提供广泛的控制选项，使其能够精准抓取和释放特定重量的颗粒状、杂乱堆积及相互缠绕的食品。我们针对两种形态各异的柔韧食品——鲑鱼子和意大利面——专门设计了夹持头，它们分别代表了粘性颗粒食品与细长粘性杂乱食品这两类具有挑战性的品类。该夹爪成功实现了对意大利面和鲑鱼子的抓取，并分别以超过80%和95%的精度完成了按特定重量释放的操作。夹爪系统还展现出在不同夹持头间快速切换的能力，从而能够处理大范围的食品品类。