Single arm Yumi IRB 14050-0.5/0.5 

@ University of Lincoln, UK

Components: Collaborative single arm, vacuum gripper, servo actuated gripper, hi-res camera, first gripper vision 

The robot is currently used to demonstrate liquid/powder ingredients dosing.  User can input the desired recipe and the robot selects the right containers and grasps them in the right sequence using 3D cameras and a rigid gripper.  It then pours the ingredients while controlling the weigh using force sensors, a digital scale and machine vision for advanced dynamics control (avoiding sloshing and spilling).  The operator can stop the task and inspect the ingredients by a physical safe interaction with the robot. 

This robot will be mainly used to demonstrate flexible assembly of food products. Standard examples could be sandwich filling and preparation of ready meals. 

The robot will use vision systems to grasp and manipulate ingredients (bin picking) and to assemble the final product in the right order and with the right configuration (quality control). 

Another use of this robot is food inspection. The robot can be equipped with multiple sensors (e.g., cameras, chemical sensors, infrared sensors, etc.) and inspect the ingredients (or final product) from different angles. 

Human robot collaboration allows the operator to assist the robot during the operations.