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 centuryold 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 gripper...

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Bibliographic Details
Published in2024 IEEE International Conference on Robotics and Automation (ICRA) pp. 4133 - 4139
Main Authors Tisdale, Malcolm, Burdick, Joel W.
Format Conference Proceeding
LanguageEnglish
Published IEEE 13.05.2024
Subjects
Actuators
Fractals
Geometry
Grasping
Kinematics
Pipelines
Space vehicles
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Summary:This paper and its companion propose a new fractal robotic gripper, drawing inspiration from the centuryold 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 address the limitations that had led to its obscurity. Two Fractal Fingers, coupled with 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.
DOI:10.1109/ICRA57147.2024.10611267