TriTrap: A Robotic Gripper Inspired by Insect Tarsal Chains.

Area of Science:

• Robotics
• Biomimetics
• Mechanical Engineering

Background:

• Optimizing robotic grippers for cost, reliability, and versatility is a key challenge in automation.
• Existing advanced grippers often rely on complex systems, limiting their use in simpler applications.
• Inspiration from biological systems, like insect feet, offers potential for robust and low-cost solutions.

Purpose of the Study:

• To demonstrate the viability of the tarsal chain principle for robotic gripping.
• To introduce and evaluate a prototype biomimetic gripper, the TriTrap gripper.
• To showcase a low-cost, versatile, and robust gripping solution inspired by insect morphology.

Main Methods:

• Developed a biomimetic gripper (TriTrap) based on the insect tarsal chain principle.
• Utilized underactuated digits with morphological encoding and passive conformation.
• Tested the gripper's performance on a diverse range of everyday objects with varying properties.

Main Results:

• The TriTrap gripper successfully held most tested objects securely during lifting, rotation, and transport.
• The gripper demonstrated versatility across different object sizes, weights, and shapes without further optimization.
• The biomimetic design proved robust and low-cost, validating the tarsal chain principle.

Conclusions:

• The insect tarsus-inspired approach is a viable method for developing effective robotic grippers.
• The TriTrap gripper successfully showcased the potential of the tarsal chain principle.
• Further development, particularly in interface optimization, is warranted for this biomimetic gripping technology.