The GRAIL Robot Arm and gripper
The GRAIL Robot System is based around a low cost, purpose designed robot arm which fully meets all the application requirements such as hygene, speed and reliability.  The robot arm differs from typical industrial robots which are designed to have very high accuracy and repeatability.  For the food assemby task, high accuracy is not needed, allowing cost savings to be made.

The gripper has been specially designed to be compatible with the types of ingredients that need to be manipulated.  It is based on the Bernoulli principle which means that it generates the vacuum used to pick up the ingredients by blowing air sideways at high speed.  For food handling, this is more hygenic since the system is less likely to become contaminated by particles and liquids sucked from the ingredients.