An end effector based on the Bernoulli principle for handling sliced fruit and vegetables

This paper describes the design and testing of a gripper developed for the handling of delicate sliced fruit and vegetable products commonly found in the food industry. The device operates on the Bernoulli principle whereby air flow over the surface of an object generates a lift. The gripper allows objects to be lifted with minimal contact thereby reducing the chances of damaging or contaminating the object. The paper will describe the mathematical basis of the gripper operation followed by tests showing the nature of the grasp.As a secondary benefit it will be shown that the flow of air over the object can also be used to remove surface moisture produced during slicing. This drying effect is a feature particularly useful in some areas of food production.The paper will show a test manufacturing cell demonstrating the placement of slices of tomatoes and cucumber on to sandwiches.