Vibration for Releasing Sticky Food in Food Robot Hand

In this study, we examined the effects of the direction of vibration on food robot hands.The robot hand developed in the past mainly aimed at grasping food, but many foods are highly sticky, and it isn't easy to release the grasped food.Therefore, it is necessary to implement a function in the robot's hand to release the food it has grabbed.In this study, we fabricated simulated meat to stabilize the experimental results and examined the effects of changing the excitation direction to the gripping part.In experiments in which the direction of excitation was varied from 0to 45, 60, and 90relative to the axial direction of the metal bar, the results showed that the metal bar fell most easily when the vibration angle was 0and that the closer the angle was to 90, the weaker the falling effect became.