Report on a Kind of Portable Object Retrieval Clamp

Jiayang Xi; Jinhui Guo

doi:10.54254/2755-2721/2025.GL27141

Applied and Computational EngineeringOpen access

Report on a Kind of Portable Object Retrieval Clamp

Research Article

Open Access

Report on a Kind of Portable Object Retrieval Clamp

Jiayang Xi ^1* Jinhui Guo ²

¹ ISA Wuhan Wenhua High School

² Tianjin University

^*Corresponding author: xijiayang38@gmail.com

Published on 24 September 2025

ACE Vol.186

ISSN (Print): 2755-273X

ISSN (Online): 2755-2721

ISBN (Print): 978-1-80590-383-3

ISBN (Online): 978-1-80590-384-0

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Abstract

The current field of grippers has been developing for a long time; however, there are still niches that are seldom reached. Grippers for narrow spaces are still uncommon in the family of grippers. This study focuses on designing a portable object retrieval clamp for recovering lost objects from narrow settings, such as drainage grates. The device integrated a modular system with a foldable Yoshimura origami-inspired tubular arm, a motor-powered cable control system, and switchable effectors: one mechanical clamp for flat objects and one origami-based clamp for cylindrical or prismatic objects. There is also structural and mathematical analysis, including degree-of-freedom calculation and folding component relationships. Prototypes were built to test the effectiveness of designs, and control systems have been proven effective, offering a compact, adaptable solution for object recovery in confined spaces. Future work will focus on improving gripper interchangeability, enhancing arm control sensitivity, and optimizing materials for durability and performance.

Keywords:

Portable retrieval clamp, Origami-inspired design, Yoshimura folding, Tomohiro folding, Modular system

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References

[1]. Nishimura, T., Muryoe, T., Asama, Y., Ikeuchi, H., Toshima, R., & Watanabe, T. (2022). Single-fingered reconfigurable robotic gripper with a folding mechanism for narrow working spaces. IEEE Robotics and Automation Letters, 7(4), 10192-10199.

[2]. Tachi, T. (2010, November). Geometric considerations for the design of rigid origami structures. In Proceedings of the International Association for Shell and Spatial Structures (IASS) Symposium (Vol. 12, No. 10, pp. 458-460). Shanghai, China: Elsevier Ltd.

[3]. Kim, S. J., Lee, D. Y., Jung, G. P., & Cho, K. J. (2018). An origami-inspired, self-locking robotic arm that can be folded flat. Science Robotics, 3(16), eaar2915.

[4]. Tachi, T. (2010). Freeform rigid-foldable structure using bidirectionally flat-foldable planar quadrilateral mesh. In Advances in architectural geometry 2010 (pp. 87-102). Springer, Vienna.

[5]. Tachi, T. (2011). Rigid-foldable thick origami. Origami, 5(5), 253-264.

[6]. Miura, K., & Tachi, T. (2010). Synthesis of rigid-foldable cylindrical polyhedra. Symmetry: Art and Science, 2010, 204-213.

[7]. Tachi, T. (2010). Freeform Variations of Origami. Journal of Geometry and Graphics, 14, 203-215.

[8]. Chen, Y., Lv, W., Li, J., & You, Z. (2017). An extended family of rigidly foldable origami tubes. Journal of Mechanisms and Robotics, 9(2), 021002.

References

[3]. Kim, S. J., Lee, D. Y., Jung, G. P., & Cho, K. J. (2018). An origami-inspired, self-locking robotic arm that can be folded flat. Science Robotics, 3(16), eaar2915.

[4]. Tachi, T. (2010). Freeform rigid-foldable structure using bidirectionally flat-foldable planar quadrilateral mesh. In Advances in architectural geometry 2010 (pp. 87-102). Springer, Vienna.

[5]. Tachi, T. (2011). Rigid-foldable thick origami. Origami, 5(5), 253-264.

[6]. Miura, K., & Tachi, T. (2010). Synthesis of rigid-foldable cylindrical polyhedra. Symmetry: Art and Science, 2010, 204-213.

[7]. Tachi, T. (2010). Freeform Variations of Origami. Journal of Geometry and Graphics, 14, 203-215.

[8]. Chen, Y., Lv, W., Li, J., & You, Z. (2017). An extended family of rigidly foldable origami tubes. Journal of Mechanisms and Robotics, 9(2), 021002.

Cite this article

Xi,J.;Guo,J. (2025). Report on a Kind of Portable Object Retrieval Clamp. Applied and Computational Engineering,186,10-24.

Data availability

The datasets used and/or analyzed during the current study will be available from the authors upon reasonable request.

About volume

Volume title: Proceedings of CONF-FMCE 2025 Symposium: Semantic Communication for Media Compression and Transmission

ISBN: 978-1-80590-383-3(Print) / 978-1-80590-384-0(Online)

Editor: Anil Fernando

Conference website: https://2025.conffmce.org/glasgow.html

Conference date: 24 October 2025

Series: Applied and Computational Engineering

Volume number: Vol.186

ISSN: 2755-2721(Print) / 2755-273X(Online)

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