{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,3,17]],"date-time":"2026-03-17T18:33:41Z","timestamp":1773772421207,"version":"3.50.1"},"reference-count":11,"publisher":"Emerald","issue":"6","license":[{"start":{"date-parts":[[2010,10,19]],"date-time":"2010-10-19T00:00:00Z","timestamp":1287446400000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/www.emerald.com\/insight\/site-policies"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":[],"published-print":{"date-parts":[[2010,10,19]]},"abstract":"<jats:sec><jats:title content-type=\"abstract-heading\">Purpose<\/jats:title><jats:p>The purpose of this paper is the increase the flexibility of robots used for handling of 3D (food) objects handling by the development and evaluation of a novel 3D Bernoulli gripper.<\/jats:p><\/jats:sec><jats:sec><jats:title content-type=\"abstract-heading\">Design\/methodology\/approach<\/jats:title><jats:p>A new gripper technology have been designed and evaluated. A deformable surface have been used to enable individual product handling. The lift force generated and the force exerted on the product during gripping is measured using a material tester instrument. Various products are tested with the gripper. A experimental\/theoretical approach is used to explain the results.<\/jats:p><\/jats:sec><jats:sec><jats:title content-type=\"abstract-heading\">Findings<\/jats:title><jats:p>A deformable surface can be used to generate a lift force using the Bernoulli principle on 3D objects. Using a small forming a significant increase in the lift force generated is recorded. Increasing the forming further was shown to have little or even negative effects. The forces exerted on the product during forming was measured to be sufficiently low to avoid product damage.<\/jats:p><\/jats:sec><jats:sec><jats:title content-type=\"abstract-heading\">Research limitations\/implications<\/jats:title><jats:p>To be able to improve the grippers lift strength a better model and understanding of the flow is needed.<\/jats:p><\/jats:sec><jats:sec><jats:title content-type=\"abstract-heading\">Originality\/value<\/jats:title><jats:p>A novel Bernoulli gripper for 3D Bernoulli gripping have been designed and evaluated. The gripper enables flexible and delicate handling of various product shapes, 3D as well as 2D. Increased utilization of robots in the food industry can be gained.<\/jats:p><\/jats:sec>","DOI":"10.1108\/01439911011081669","type":"journal-article","created":{"date-parts":[[2010,10,30]],"date-time":"2010-10-30T07:07:13Z","timestamp":1288422433000},"page":"518-526","source":"Crossref","is-referenced-by-count":69,"title":["A Bernoulli principle gripper for handling of planar and 3D (food) products"],"prefix":"10.1108","volume":"37","author":[{"given":"Anders","family":"Petterson","sequence":"first","affiliation":[]},{"given":"Thomas","family":"Ohlsson","sequence":"additional","affiliation":[]},{"given":"Darwin G.","family":"Caldwell","sequence":"additional","affiliation":[]},{"given":"Steven","family":"Davis","sequence":"additional","affiliation":[]},{"given":"John O.","family":"Gray","sequence":"additional","affiliation":[]},{"given":"Tony J.","family":"Dodd","sequence":"additional","affiliation":[]}],"member":"140","reference":[{"key":"key2022012219522814600_b2","doi-asserted-by":"crossref","unstructured":"Armengol, J., Calb\u00f3, J., Pujol, T. and Roura, P. (2008), \u201cBernoulli correction to viscous losses: radial flow between two parallel discs\u201d, American Journal of Physics, Vol. 76 No. 8, pp. 730\u20107.","DOI":"10.1119\/1.2897290"},{"key":"key2022012219522814600_b3","unstructured":"Binder, A. and Kroupa, G. (2003), \u201cNovel technology for handling very thin wafers\u201d, Solid State Technology: The Electronic Manufacturer's Journal, October, pp. 64\u20108."},{"key":"key2022012219522814600_b4","doi-asserted-by":"crossref","unstructured":"Chua, P.Y., Ilschner, T. and Caldwell, D.G. (2003), \u201cRobotic manipulation of food products \u2013 a review\u201d, Industrial Robot: An International Journal, Vol. 30 No. 4, pp. 344\u20105.","DOI":"10.1108\/01439910310479612"},{"key":"key2022012219522814600_b5","doi-asserted-by":"crossref","unstructured":"Davis, S., Gray, J.O. and Caldwell, D.G. (2008), \u201cA non\u2010contact end effector based on the Bernoulli principle for handling of sliced tomatoes\u201d, Journal of Robotics and Computer Integrated Manufacturing, Vol. 24 No. 2, pp. 249\u201057.","DOI":"10.1016\/j.rcim.2006.11.002"},{"key":"key2022012219522814600_b6","doi-asserted-by":"crossref","unstructured":"Erzincanli, F. and Sharp, J.M. (1997a), \u201cDevelopment of a non\u2010contact end effector for robotic handling of non\u2010rigid materials\u201d, Robotica, Vol. 15, pp. 331\u20105.","DOI":"10.1017\/S0263574797000374"},{"key":"key2022012219522814600_b7","doi-asserted-by":"crossref","unstructured":"Erzincanli, F. and Sharp, J.M. (1997b), \u201cMeeting the need for robotic handling of food products\u201d, Food Control, Vol. 8 No. 4, pp. 185\u201090.","DOI":"10.1016\/S0956-7135(97)00047-9"},{"key":"key2022012219522814600_b8","unstructured":"Erzincanli, F., Sharp, J.M. and Dore, A.M. (1994), \u201cGrippers for handling non\u2010rigid food products\u201d, European Robotics and Intelligent Systems Conference: Papers, Vol. 1994 No. 2, pp. 798\u2010806."},{"key":"key2022012219522814600_b9","unstructured":"Fletcher, S.W. III, Mohsenin, N.N., Hammerle, J.R. and Tukey, L.D. (1965), \u201cMechanical behaviour of selected fruits and vegetables under fast rates of loading\u201d, Transactions of the ASAE, pp. 324\u20106."},{"key":"key2022012219522814600_b1","unstructured":"Food Refrigeration and Process Engineering Research Centre (2010), \u201cAirflow (Bernoulli) grippers for flat sheet foods\u201d, available at: www.grimsby.ac.uk\/documents\/frperc\/projects\/airflow.pdf (accessed 12 July 2010)."},{"key":"key2022012219522814600_b10","unstructured":"Mastwijk, H.C. and Nierop Groot, M.N. (2010), \u201cCold plasma's used for food processing. Encyclopedia of biotechnology in agriculture and food\u201d, in Heldman, D.R., Bridges, A., Hoover, D.G. and Wheeler, M.B. (Eds), CRC\u2010Taylor & Francis, New York, NY."},{"key":"key2022012219522814600_b11","doi-asserted-by":"crossref","unstructured":"Wallin, P.J. (1997), \u201cRobotics in the food industry: an update\u201d, Trends in Food Science and Technology, Vol. 8, pp. 193\u20108.","DOI":"10.1016\/S0924-2244(97)01042-X"}],"container-title":["Industrial Robot: An International Journal"],"original-title":[],"language":"en","link":[{"URL":"http:\/\/www.emeraldinsight.com\/doi\/full-xml\/10.1108\/01439911011081669","content-type":"unspecified","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/www.emerald.com\/insight\/content\/doi\/10.1108\/01439911011081669\/full\/xml","content-type":"application\/xml","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/www.emerald.com\/insight\/content\/doi\/10.1108\/01439911011081669\/full\/html","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,7,24]],"date-time":"2025-07-24T23:50:38Z","timestamp":1753401038000},"score":1,"resource":{"primary":{"URL":"http:\/\/www.emerald.com\/ir\/article\/37\/6\/518-526\/175182"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2010,10,19]]},"references-count":11,"journal-issue":{"issue":"6","published-print":{"date-parts":[[2010,10,19]]}},"alternative-id":["10.1108\/01439911011081669"],"URL":"https:\/\/doi.org\/10.1108\/01439911011081669","relation":{},"ISSN":["0143-991X"],"issn-type":[{"value":"0143-991X","type":"print"}],"subject":[],"published":{"date-parts":[[2010,10,19]]}}}