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Biomim."],"published-print":{"date-parts":[[2025,9,30]]},"abstract":"<jats:title>Abstract<\/jats:title>\n               <jats:p>Conventional rigid grippers remain the most-used robotic grippers in industrial assembly tasks. However, they are limited in their ability to handle a diverse range of objects. This study draws inspiration from nature to address these limitations, employing multidisciplinary methods, such as computer-aided design, parametric modeling, finite element analysis, 3D printing, and mechanical testing. Computational analysis of three distinct mandible morphs from the stag beetle <jats:italic>Cyclommatus mniszechi<\/jats:italic> revealed that key geometric features\u2014specifically mandible curvature and denticle arrangement\u2014govern a functional trade-off between grasping ability and structural safety. This analysis identified a specific morphology optimized for superior grabbing performance, which served as the template for our design. Leveraging these biological principles, we used parametric modeling to design, and 3D printing to fabricate, a series of novel, mechanically intelligent grippers. Mechanical testing of these prototypes validated our design approach, demonstrating that specific modifications to curvature could significantly enhance the gripper\u2019s load-bearing capacity while minimizing object damage. This work establishes a clear pathway from biomechanical analysis to engineered application, offering a robust and cost-efficient blueprint for developing next-generation grippers that operate effectively without complex sensing or actuation systems for tasks in manufacturing, logistics, and healthcare.<\/jats:p>","DOI":"10.1088\/1748-3190\/ae0547","type":"journal-article","created":{"date-parts":[[2025,9,9]],"date-time":"2025-09-09T22:54:22Z","timestamp":1757458462000},"page":"056010","update-policy":"https:\/\/doi.org\/10.1088\/crossmark-policy","source":"Crossref","is-referenced-by-count":1,"title":["From beetle to bot: bioinspired design of robotic grippers based on stag beetle mandible biomechanics"],"prefix":"10.1088","volume":"20","author":[{"given":"Mahdi","family":"Rajabi","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-4919-0370","authenticated-orcid":false,"given":"Sepehr H","family":"Eraghi","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-1219-7480","authenticated-orcid":true,"given":"Arman","family":"Toofani","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Shayan","family":"Ramezanpour","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Preenjot","family":"Singh","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-0902-4466","authenticated-orcid":true,"given":"Jianing","family":"Wu","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-2331-8591","authenticated-orcid":false,"given":"Chung-Ping","family":"Lin","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-1792-3325","authenticated-orcid":true,"given":"Hamed","family":"Rajabi","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"266","published-online":{"date-parts":[[2025,9,19]]},"reference":[{"key":"bbae0547bib1","first-page":"772","type":"conference-proceedings","article-title":"Design of a micro-gripper and an ultrasonic manipulator for handling micron sized objects","author":"Beyeler","year":"2006"},{"key":"bbae0547bib2","first-page":"105","type":"conference-proceedings","article-title":"Design, optimization and construction of MEMS-based micro grippers for cell manipulation","author":"Belfiore","year":"2013"},{"key":"bbae0547bib3","doi-asserted-by":"publisher","first-page":"332","DOI":"10.1016\/j.jfoodeng.2009.11.020","type":"journal-article","article-title":"Design of a magnetorheological robot gripper for handling of delicate food products with varying shapes","volume":"98","author":"Pettersson","year":"2010","journal-title":"J. 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