Fig. 2
From: A fractal gripper with switchable mode for geometry adaptive manipulation
The overall structure design of the fractal gripper. (a) An exploded view of the overall structure of the fractal gripper. (b) A schematic diagram of the driving module of the fractal gripper, which achieves the opening and closing of three fractal structures through spiral transmission and has a self-locking feature. (c) A half-and-half design diagram of the fractal finger, dividing each part into two halves, assembled using screws and nuts. Between each T-slot, a spring is used to achieve the self-recovery effect of the sectorial parts.
