Fig. 1
From: A fractal gripper with switchable mode for geometry adaptive manipulation
The design concept and adaptive mechanism of fractal gripper. (a) A simplified two-dimensional planar diagram of a fractal structure, corresponding to a binary tree structure with a depth of two, possesses good adaptability and force redistribution characteristics. (b) For objects of different geometric scales, three cases of planar gripping using fractal structures are presented. Relying on the adaptive characteristics of the fractal structures, the geometric surface of the objects can be fully enveloped.
