Basic Consideration on Robotic Food Handling by Using Burger Model

This paper discusses a design approach on robotic food handling by considering the characteristics of viscoelasticity. We pick up Norimaki as a typical example with the viscoelastic characteristics. We first show that the dynamic characteristics of Norimaki can be expressed by utilizing the Burger model. After testing the parameter sensitivity, we show an example of the optimum design for determining the combination of the hand stiffness and the operating velocity. We further show that the resultant plastic deformation can be formulated with the exact solution.