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Updated: May 10, 2025

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A fractal gripper with switchable mode for geometry adaptive manipulation.

Jiaxin Huang1, Jian Shen1, Yilin Zheng1

  • 1Jiangsu Provincial Key Laboratory of Food Advanced Manufacturing Equipment Technology, School of Mechanical Engineering, Jiangnan University, Wuxi, 214122, China.

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|April 26, 2025
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Summary

A novel fractal gripper enhances the grasping stability of underactuated manipulators for heavy or irregular objects. This innovative design ensures robust, efficient, and soft grasping across diverse applications.

Keywords:
Fractal gripperGrasping capacityMulti-joint underactuated manipulatorMulti-scale adaptabilitySwitchable mode

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Area of Science:

  • Robotics
  • Mechanical Engineering
  • Applied Mathematics

Background:

  • Multi-joint underactuated manipulators face challenges in grasp stability, particularly with heavy or irregularly shaped objects.
  • Existing grippers often lack the adaptability and robustness required for complex grasping tasks.

Purpose of the Study:

  • To introduce a novel fractal gripper designed to enhance the grasping capacity and stability of underactuated manipulators.
  • To investigate the self-recovery, force redistribution, and multi-scale adaptability features of the fractal gripper.

Main Methods:

  • Development of a gripper with fractal morphology integrating fractal geometry and lever principles.
  • Implementation of a resilient design for self-recovery and continuous robust grasping.
  • Wrapping fractal fingers with elastic polymer for secure grasping and conducting fingertip pressure experiments.

Main Results:

  • The fractal gripper demonstrated superior grasping capacity, stable envelopment of complex objects, and even force distribution.
  • Experiments confirmed multi-scale adaptability and enhanced grasping stability with objects of diverse shapes and sizes.
  • The gripper exhibited self-recovery features, improving grasping efficiency and robustness.

Conclusions:

  • The fractal gripper offers a transformative design paradigm for manipulators, integrating mathematical and mechanical principles for superior performance.
  • This technology addresses critical requirements in handling irregular and heavy objects across various practical scenarios.
  • The design promotes applicability through switchable modes and ensures safe, secure, and efficient grasping.