Analysis and experimental investigation of the factors influencing the grasping of planar flaky deformation objects in a laid-out configuration

Abstract

This study endeavors to elucidate the salient factors that influence the efficacy of roller-based robotic manipulators in grasping multi-layered flaky deformation objects in a planar configuration. Through a rigorous force analysis of the grasping process, it was ascertained that the manipulation of flaky deformation objects is influenced by four forces. Subsequent analysis of the genesis of these forces enabled the identification of four pivotal factors: the applied downward pressure, the location of grasp, the number of stacked layers, and the coefficient of friction. To gain a comprehensive understanding of how these factors dictate the grasping efficacy, a series of meticulously designed experiments was conducted. The findings reveal that augmenting the coefficient of friction between the roller and fabric, intensifying the downward pressure, increasing the number of stacked layers, and opting for a grasp location proximal to the edge significantly bolster the success rate of grasping. These revelations hold the potential to furnish theoretical guidance for optimizing the grasping strategies of roller-based robotic manipulators under practical operational conditions.