Mechanical Sciences
Mechanical Sciences
Mechanical Sciences
Articles | Volume 14, issue 1
Articles | Volume 14, issue 1
https://doi.org/10.5194/ms-14-111-2023
© Author(s) 2023. This work is distributed under
the Creative Commons Attribution 4.0 License.
https://doi.org/10.5194/ms-14-111-2023
© Author(s) 2023. This work is distributed under
the Creative Commons Attribution 4.0 License.
Articles | Volume 14, issue 1
Research article
 | 
13 Mar 2023
Research article |  | 13 Mar 2023

A versatile end effector for grabbing and spreading of flaky deformable object manipulation

Yuan Huan, Gongchang Ren, Xiangyu Su, and Weizhi Tian

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Short summary
A reconfigurable multi-link mechanism is proposed, and based on the multi-link mechanism and the roller fingertip structure, an end effector is designed to manipulate geometric soft fabrics. The working principle of the reconfigurable multi-link mechanism, the structure and grasping mode of the end effector are introduced in detail, and the kinematics analysis and simulation of the end effector are carried out.
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