Stiffness Evaluation of the Robotic Gripper for High-Speed Handling of the Deformable Object

In recent years, food factories have increasingly embraced automation to mitigate labor shortages and boost productivity. Consequently, robotic grippers for high-speed food handling have attracted considerable attention. However, many foods are fragile and susceptible to deformation or damage during high-speed handling. Previous studies have addressed these challenges by maintaining suitable grasping forces or employing very soft materials at the contact interface. Nevertheless, the stiffness of gripper designs for high-speed handling, as well as their experimental validation, remains insufficiently explored. Therefore, this study aims to experimentally evaluate the stiffness of a geometrically simplified robotic gripper and investigate the balance between grasping stability and handling efficiency for deformable objects, thereby advancing robotic grasping technology in the food industry.