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Grasping with kirigami shells.

Yi Yang1, Katherine Vella1, Douglas P Holmes2

  • 1Department of Mechanical Engineering, Boston University, 110 Cummington Mall, Boston, MA 02215, USA.

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Researchers developed a novel soft gripper using kirigami shells for precise object manipulation. This scalable and remotely actuated gripper offers versatile applications in robotics and biomedical devices.

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Area of Science:

  • Robotics and Materials Science
  • Biomechanical Engineering

Background:

  • Object manipulation is crucial for biological and engineering systems.
  • Existing grippers often lack precision, miniaturization, or remote actuation capabilities.

Purpose of the Study:

  • To present a novel soft gripper based on kirigami shells.
  • To enable precise, rapid, and remotely actuated grasping.
  • To demonstrate scalability and material independence of the gripper design.

Main Methods:

  • Utilized kirigami shells, which are thin, elastic shells with patterned cuts.
  • Employed experiments, finite element simulations, and theoretical modeling to determine kirigami cut patterns.
  • Investigated the mechanics and geometry of the shells for design optimization.

Main Results:

  • Developed a soft gripper capable of precise and rapid grasping.
  • Demonstrated miniaturization, modularization, and remote actuation via magnetic fields.
  • Created kirigami gripper arrays for simultaneous grasping of multiple delicate objects.

Conclusions:

  • The kirigami shell gripper is a versatile, scalable, and material-independent solution for object manipulation.
  • This technology has significant potential applications in robotics, haptics, and biomedical device design.
  • The modular design allows for customization and integration with existing platforms.