Design fundamentals of a reconfigurable robotic gripper systemDesign fundamentals of a reconfigurable robotic gripper system Peer-Reviewed Journal Publication Δημοσίευση σε Περιοδικό με Κριτές 2015-10-082000enDiscusses the design and modeling fundamentals of a multi-degree-of-freedom reconfigurable robotic gripper system (RGS), designed to automate the process of limp material handling, reliably and without distortion, deformation, and/or folding. The reconfigurable gripper design draws upon a previously reported flat surfaced, fixed-dimensions gripper system (Kolluru et al., 1998). The design consists of four arms in a cross-bar configuration, with a flat surfaced, fixed dimensions, suction-based gripper unit mounted on each of the arms. The kinematic and dynamic performance of the reconfigurable RGS is analyzed theoretically and then validated using Integrated Design Engineering Analysis Software (I-DEAS) simulation software http://creativecommons.org/licenses/by/4.0/IEEE Transactions on Systems, Man and Cybernetics, Part A: Systems and Humans230181 - 187 S. Smith Tsourveloudis Nikolaos Τσουρβελουδης Νικολαος K. P. Valavanis R.Kolluru IEEE Robot control robots control systems robot control Kinematics of robots Robot kinematics robots kinematics kinematics of robots robot kinematics