Robotic Slicing of Fruits and Vegetables: Modeling the Effects of Fracture Toughness and Knife Geometry
Prajjwal Jamdagni Yan-Bin Jia Prajjwal Jamdagni Yan-Bin Jia
Slicing is an important skill for a robot to learn as it is more efficient and results in less deformation in comparison with cutting by pressing. Cutting experiments with foods have indicated that the ease of slicing is caused by a decrease in fracture toughness. In this paper, we formally characterize this decrease based on the work needed to maintain the critical strain for fracture. Forces gen...