1 research outputs found
The Fractal Hand-II: Reviving a Classic Mechanism for Contemporary Grasping Challenges
This paper, and its companion, propose a new fractal robotic gripper, drawing
inspiration from the century-old Fractal Vise. The unusual synergistic
properties allow it to passively conform to diverse objects using only one
actuator. Designed to be easily integrated with prevailing parallel jaw
grippers, it alleviates the complexities tied to perception and grasp planning,
especially when dealing with unpredictable object poses and geometries. We
build on the foundational principles of the Fractal Vise to a broader class of
gripping mechanisms, and also address the limitations that had led to its
obscurity. Two Fractal Fingers, coupled by a closing actuator, can form an
adaptive and synergistic Fractal Hand. We articulate a design methodology for
low cost, easy to fabricate, large workspace, and compliant Fractal Fingers.
The companion paper delves into the kinematics and grasping properties of a
specific class of Fractal Fingers and Hands.Comment: This paper is prepared for ICRA 202