Comparative analysis of two types of mechanical grippers for gripping flexible packaging materials

Abstract

To study the different structure types of flexible packaging material gripping mechanical grippers and their application to the working environment, two types of cylinder-type soft packaging material gripping mechanical grippers are designed in this paper. According to the structural characteristics of the mechanical gripper, mathematical analysis is carried out to determine the coordinate relationship of each joint of the mechanical gripper. The plot function in MATLAB is used to plan and simulate the path curves of the two types of mechanical grippers and to determine the working environment of the two types of mechanical grippers applied respectively; the movement of the mechanical gripper is analyzed by using the fifth-degree polynomial, and MATLAB Robotics toolbox is used for simulation, which results in the displacement, velocity, and speed of the end of the two mechanical grippers. The fifth-degree polynomial is used to analyze the motion of the mechanical gripper, and the MATLAB Robotics toolbox is adopted for simulation, as well as the displacement, velocity, and acceleration curves of the end of the two mechanical grippers. The aim is to understand the motion characteristics of the two kinds of mechanical grippers, master the two kinds of mechanical grippers’ working state, and provide a reference for subsequent research on flexible packaging material gripping mechanical grippers.