A robotic gripper inspired by a patent from 1913 consists of a nested arrangement of pivoting joints that can wrap around odd shapes using a single motor.
Researchers at Caltech redesigned the mechanism to do away with the curved dovetail joints of the original, which would clog with detritus and require regular maintenance. They 3D printed the entire mechanism in one go using a combination of rigid and flexible plastics, and topped each “fingertip” with two soft domes to provide friction. The fractal vice can give robots a third hand for oddball shapes
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