From beetle to bot: bioinspired design of robotic grippers based on stag beetle mandible biomechanics

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 revealed that key geometric features-specifically mandible curvature and denticle arrangement-govern 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's 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.