Design, Analysis, Manufacturing and Testing of a SCARA Robot with Pneumatic Gripper for the Poultry Industry

Abstract

Abstract Soft robotics is replacing conventional robots in fields requiring interaction with fragile objects. Namakkal district of Tamil Nadu is responsible for over 90% of egg exports in India. Most of the eggs are processed and palletized manually which causes a lot of money on human labor. This paper discusses the design of a SCARA robot which uses asymmetric flexible pneumatic bellow actuator (AFPBA) to palletize the eggs to reduce the processing time and human labor. The design, analysis, manufacturing and testing details have been provided. The manufactured prototype was able to successfully lift 200 grams without slippage.