Venus Flytrap-Inspired Electromagnetically Driven Bistable Gripper for Fast Envelope Grasping

Abstract

Soft grippers are adaptable and inherently safe, while their performance is typically limited by inherent softness, driving methods, and gripping modes. Inspired by the rapid closing mechanism of the Venus flytrap, this study presents a novel electromagnetically driven bistable gripper that overcomes the inherent speed limitations of conventional soft grippers. Our design integrates Kresling origami with elastic strips to create a fast-response gripper with a reticulate envelope workspace. Through comprehensive design, fabrication, modeling, and experimental analysis, we demonstrate that the gripper achieves state switching in tens of milliseconds via 17–25 V voltage pulses, surpassing the response time of natural flytraps. The gripper exhibits a maximum pull-out force of 25 N and demonstrates dual-mode triggering capability through both electrical and mechanical stimuli. Experimental results confirm its effectiveness in rapid pick-and-place operations of fragile and sharp objects using active and passive triggering modes, as well as reliable grasping under static and dynamic conditions. This advancement in fast, compact, and stable gripping systems holds significant potential for high-throughput sorting applications.