Fig. 2: Weaving gripper mechanism.
From: Grasping through dynamic weaving with entangled closed loops
a Weaving gripper composed of strips, where one strip is designed as a line shape with inner and outer ground plates. b Schematic of one strip forming a loop on the x–y plane (color bar representing the range of z coordinates) and (c) on the x-z plane showing zoffset by stacked strips. d–f State of the weaving gripper and one strip showing the process of intersection between adjacent strips based on the gripper with eight strips at θi = 0°, g–i θi = −22.5°, j–l θi = −45°, m–o θi = −90°, and p–r θi = −180° (color bar representing the range of z coordinates).
