Design of manipulator for grabbing and stretching soft objects with irregular geometric figures
With the rapid development of robotics technology in recent years,various manipulators have emerged one after another.However,most manipulators can merely perform simple clamping actions;they fail to effectively grasp and stretch soft objects with variable shapes,large flat areas,and small thickness.In this article,based on the analysis on the leather's physical properties,efforts are made to work out a manipulator for grabbing and stretching soft objects with irregular geometric figures.The whole manipulator with the octopus bionic mechanism and the roller-type end effector,realizes the function of leather grasping,and ensures the function of leather stretching through cooperation with the octagonal stretcher.This manipulator provides an effec-tive solution for the functions of leather handling and stretching,which has greatly promoted automation in the leather industry.
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