Bat Feet-Inspired Gripper: Design and Kinematic Analysis of a Metamorphic Docking Mechanism

This paper presents a reconfigurable docking mechanism inspired by the tendon-locking mechanism of bat claws. Designed for the rapid assembly and disassembly of robots, the mechanism aims to overcome challenging terrains for ground robots, enhancing their mobility. Utilizing parallel elastic structures, the mechanism replicates the biomechanics involved in the opening and closing of a claw. Locking and unlocking are achieved through a variable-topology ratchet and groove system. We delve into the biomimetic principles of bat hanging-locking and present a comprehensive discussion on the intricate design of the docking mechanism, supported by simulation and experimental results. Successful experiments validate that the docking mechanism fulfills design requirements, effectively rectifying docking errors and offering an efficient solution for mobile robots' rapid assembly and disassembly.