Development of A Gripper for Manipulation of Soft Line-Shaped Object

This study presents a gripper for manipulating bundles of line-shaped flexible objects. Among the flexible objects, noodles are focused on. The target operation is the aligning of the noodles to achieve appetizing looks. For the purpose, the developed gripper has the functions of grasping, aligning, and releasing. The three modes are realized by single motor, which is another feature of the developed gripper. The efficiency of the developed gripper was experimentally validated.