Towards compliant end-effectors for space applications based on recursive geometry

This work explores the development of a compliant mechanism-based robotic end-effector for space applications. Compliant mechanisms offer advantages such as reduced weight, volume, and part count, as well as enhanced adaptability and resilience. A fractal-inspired, 3D-printed gripper prototype using PETG was developed, demonstrating successful grasping of organic shapes. Future work includes applying mathematical models for design optimization and integrating tactile sensors for force feedback. The aim is to create a functional prototype that can eventually be transitioned to space-grade materials for in-orbit tasks like handling debris or satellite components.