Fig. 2
From: Double-spiral as a bio-inspired functional element in engineering design
Freeform passive gripper. (a) 2D view of the double-spiral and circular loops. (b) Deformation of the loops under their own weight in contact with a flat, two concave, and two convex surfaces. (c) Deformation of the hung double-spiral loop under its own weight and a 1Â kg mass. (d) Attaching magnets to the lower half of the double-spiral loop, with a close-up of the loop equipped with tiny disc magnets using double-sided tape, shown from both top and side views. (e) Using the developed magnetic gripper to pick up a 50Â g Allen wrench, a 50Â g shoehorn, two 15Â g tweezers, and multiple 2Â g steel beads.
