Fig. 3
From: A fractal gripper with switchable mode for geometry adaptive manipulation
The motion mechanism of the fractal gripper. (a) The motion mechanism of the driving module and mode-switching module of the fractal gripper is demonstrated by using the state diagram. (b) The mode-switching process of the fractal gripper is shown, where â‘¢ is the grasping mode and â‘£ denotes the gripping mode.
