This paper discusses the design and modeling fundamentals of a multi-degree
-of-freedom reconfigurable robotic gripper system (RGS), designed to automa
te the process of limp material handling, reliably and without distortion,
deformation, and/or folding. The reconfigurable gripper design draws upon t
he authors' previously reported flat surfaced, filed-dimensions gripper sys
tem [1]. The design consists of four arms in a cross-bar configuration, wit
h a flat surfaced, fixed dimensions, suction-based gripper unit mounted on
each of the arms. The kinematic and dynamic performance of the reconfigurab
le RGS is analyzed theoretically and then validated using Integrated Design
Engineering Analysis Software (I-DEAS) simulation software.