Four torsion springs are attached to the four inner joints of the two parallelograms to reopen the tool as the robotic gripper releases. The fundamental kinematic structure of the mechanical tool is two symmetric parallelograms which transmit the motion of the robotic gripper to the tooltips. This work designs a mechanical tool for robots with 2-finger parallel grippers, which extends the functionality of the robotic gripper without additional requirements on tool exchangers or other actuators. A robotic prototype is constructed and tested, showing the presented arm group mechanism has high adaptability to capture targets with different sizes, shapes, and incident angles. Through finite element method, the influence of different configurations of the continuum arm group on the capture performance is analyzed. Wire-driven actuation systems are implemented in the individual continuum arms, achieving both bending motion and stiffness regulation. It is able to dissipate and absorb the kinetic energy of a fast moving target in omni-direction and utilize multiple arms to wrap and lock the target without accurate positioning control. In this paper, a novel continuum arm group mechanism inspired by the morphology and motions of sea anemones is proposed. However, few devices can capture irregularly shaped dynamic targets in space, underwater and other unstructured environments. Robotic grippers have been used in industry as end-effectors but are usually limited to operations in pre-defined workspace.
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