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

Related subject area

Subject: Mechanisms and Robotics | Techniques and Approaches: Mathematical Modeling and Analysis
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Cited articles

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Corinaldi, D., Callegari, M., Palpacelli, M.-C., and Palmieri, G.: A Gripper for Handling Large Leather Plies Stacked on Beams, in: Proceedings of the ASME 2015 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. Volume 9: 2015 ASME/IEEE International Conference on Mechatronic and Embedded Systems and Applications, Boston, Massachusetts, USA, 2–5 August 2015, ASME, V009T07A075,, 2015. 
Donaire, S., Borràs, J., Alenyà, G., and Torras, C.: A Versatile Gripper for Cloth Manipulation, IEEE Robotics and Automation Letters, 5, 6520–6527,, 2020. 
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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.