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

IF 1 4区工程技术 Q4 ENGINEERING, MECHANICAL

Mechanical Sciences Pub Date : 2023-03-13 DOI:10.5194/ms-14-111-2023

Yuan Huan, Gongchang Ren, Xiangyu Su, W. Tian

引用次数: 0

Abstract

Abstract. It is a conundrum to use robots to complete the intelligent operation of leather and clothing fabrics; this is mainly reflected in the design of an end effector that can realize this function. We have determined the design requirements and objectives of the end effector by observing the action of manually grabbing and spreading leather, and put forward an end effector composed of a reconfigurable multi-link mechanism and roller-type fingertip, which can be used to grab and spread flaky deformable object manipulation. At the same time, the reconfigurable multi-link mechanism and roller-type fingertip are introduced and analyzed in detail. By setting up the prototype of the end effector and completing the grabbing experiment of three kinds of soft pieces, we verified and tested the rationality of the prototype design. The result shows that the grabbing success rate will be affected by many factors, and further exploration is needed to further improve the performance of the end effector.

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一种用于抓取和展开片状可变形物体的通用末端执行器

摘要利用机器人完成皮革、服装面料的智能化操作是一个难题;这主要体现在设计一个能够实现这一功能的末端执行器上。通过对人工抓取和展开皮革动作的观察，确定了末端执行器的设计要求和目标，提出了一种由可重构多连杆机构和滚柱式指尖组成的末端执行器，可用于抓取和展开片状变形物体操作。同时，对可重构多连杆机构和滚柱式指尖进行了详细的介绍和分析。通过建立末端执行器的原型，完成对三种软件的抓取实验，验证和检验了原型设计的合理性。结果表明，抓取成功率会受到多种因素的影响，需要进一步探索以进一步提高末端执行器的性能。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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来源期刊

Mechanical Sciences ENGINEERING, MECHANICAL-

CiteScore

2.20

自引率

7.10%

发文量

审稿时长

29 weeks

期刊介绍： The journal Mechanical Sciences (MS) is an international forum for the dissemination of original contributions in the field of theoretical and applied mechanics. Its main ambition is to provide a platform for young researchers to build up a portfolio of high-quality peer-reviewed journal articles. To this end we employ an open-access publication model with moderate page charges, aiming for fast publication and great citation opportunities. A large board of reputable editors makes this possible. The journal will also publish special issues dealing with the current state of the art and future research directions in mechanical sciences. While in-depth research articles are preferred, review articles and short communications will also be considered. We intend and believe to provide a means of publication which complements established journals in the field.