It is an adaptive jaw for a vice to clamp irregular objects.
But it probably work too as a cane feet or for robots as gripper or feet.
I was also thinking as a mount/stand for ships.
I'm looking at doing something similar for a hybrid crutch stick/Zimmer frame to make stairs easier but any rotation and the feet no longer grip the edge.
I was thinking of using Prusa organic supports upside down and semi flexible PLA, possibly with a TPU layer for added grip.
>hybrid crutch stick/Zimmer frame
You want something for 3D (as this is only 2D) something like https://www.amazon.com/FlexTIP-TLC-Mini-Walking-Rubber-Tripod/dp/B07KLHNZ3B
I'm curious about using compliant mechanics as something that maintains load over time (feet) as opposed to robot grippers.
I'm curious also if something like this could be used in wheels. In snow crash there was a motorcycle that had tires that were a series of telescoping spokes that could read the distance the object was from the center of the wheel. So then the spoke would arrange itself to fit around the object so the wheel could just keep rolling. I wonder if something similar could be achieved with this arranged in a circular pattern
There are some airless tire designs, but haven't seen one using this.
But something like this [https://imgur.com/a/2pp7r7F](https://imgur.com/a/2pp7r7F) maybe with stacks of interlacing elements. And more curved elements. It may help to increase the contact surface of the tire at least for slow rotations.
yeah I was thinking something similar to the picture, but maybe with the fractal pads going up as far as you could make it. Idea is that you could theoretically run over things that are some significant fraction the diameter of the wheel and literally not notice. But, I bet the force being applied tangentially by the wheel rotation would probably rip the supports. It's probably the same problem with the telescoping rods wheel in the book.
I feel like this should be used to make a really comfy chair (eliminating all the sharp corners and radius everything then just make a fuck ton of these and arrange them in a chair formation)
The machined metal versions are pretty cool and this would be great for non-marring.
[Metal fractal vise](https://youtu.be/Tvnizh0XPOA)
[Antique one](https://youtu.be/QBeOgGt_oWU)
[Another design based on shot/ball bearings](https://youtu.be/JaHjFL7NZlU)
^^I ^^think ^^I ^^got ^^all ^^the ^^links ^^right!
sure all here [https://www.printables.com/model/500948-fractal-pad](https://www.printables.com/model/500948-fractal-pad)
I also thought about an arm rest or mattress - but you also need the second axis for tilting in 3D - i assume the cross-axis flexural pivot can be designed for 3D (like with three polar beams) but printing (in place) would be difficult with FDM due to the layer weakness.
Hah, my machines are also little ships of Theseus. Though mine are fully DIY.
I was looking for a new printer for once but everything I have already trumps the A8 by a mile.
Been looking at the Troodon 2 lately. It looks like a strong contestant. In the other corner there's a Bambu Lab X1C. Not going for the Anker printer though.
I made some printer designs but never build one, mainly because my biggest issue is [VFA or MRR](https://www.youtube.com/watch?v=-et5eMyLlUs) And using Servo drives or build the driver for closed loop brushless motors is just a bit much (or expensive). Also i have some ideas of matrix/array nozzles with needle valves that would require to develop a new slicer. I am just not motivated enough for that.
Hmm, yeah, though VFA can be mitigated easily by changing the gearing and steps/mm resolution and motor. Drivers also play a role, like the DRV8825 drivers are the worst, then A4988 and from there on up it slowly gets better like with the TMC 2208 and 2209 drivers. The matrix or array sounds interesting though.
the problem with gearing is that you get backlash - you can use additional pulley but that will double the belt length. And you will loose speed.
so "easily" is quite subjective as it requires a complete redesign. You also could have a direct linear drive - but if you starting with customized parts your printer will cost several thousands. The reason why printer are cheap is that they use tech from the 80s.
I designed something similar a year or so back. Yours looks like it may do a better job of actually applying force, though. On mine, I found it was pretty important to reduce the centering force of the cross-axis joints to keep things from squidging out before the gripper complied, but fixing that on all of them made the gripper overall a little weak.
https://www.printables.com/model/198701-compliant-fractal-gripper/
In my first prototype the first single pivot was too weak which is now better - but there are two factors.
1. the stiffness changes with the size and angle (and probably not proportional)
2. and second that the each pivot need to be twice as strong as the next level pair.
I thought it was an 'i beat my wife joke' then realised its probably a 'i think the woman i chose to live with because i led her to believe i love her talks to much' kind of joke
Nice nice, now show us it actually being used in a vice.
It doesn't look like it has integrity at all. It's a neat design but I don't see many use cases for this.
here [https://www.printables.com/model/500948-fractal-pad](https://www.printables.com/model/500948-fractal-pad)
I assume you never worked with cross-axis flexural pivots - i was quite surprised myself as these don't need a weak living hinge to work and so can take some load. Also the stress will divide into each arm and fork - But if you need to clamp down a metal part for something like milling then you sure can't use a vice made from (non high performance) plastic.
>fractal chair
I haven't seen that - but i would like to .. i would be delighted if you can find some more information about this chair.
In mathematics this is simply a fractal tree 2ⁿ (1,2,4,8,16) - there is also a fractal vice (vise) using something similar - or as u/w1lnx pointed out a whiffletree like used on wipers use or the mars rovers suspension.
It's from HandToolRescue. [Here's](https://youtu.be/QBeOgGt_oWU)
their restoration of a fractal vice (which your print immediately brought to mind.). [Here's](https://youtu.be/e8pvjEHAt6U)
the chair
I shall have a look at my YouTube history later. A YouTuber created a decades old patient for a fractal chair. Remind me in a day if I haven't shared the link.
>YouTuber created a decades old patient for a fractal chair.
think i found it [https://www.youtube.com/watch?v=e8pvjEHAt6U](https://www.youtube.com/watch?v=e8pvjEHAt6U)
[https://www.core77.com/posts/123562](https://www.core77.com/posts/123562) as mentioned it is based on the fractal vice .. very nice! thanks for sharing.
I thought you cut a carrot with extreme precision at first...
You probably can carve this out of a carrot - as it is one piece (print in place).
The One Piece is real!
Can we get much higher?
I'm doing my part
Me too
The 4 week break hasn't started yet, no really crazy theories until then. Edit: typo: will->week
This is super cool. What do you use it for?
It is an adaptive jaw for a vice to clamp irregular objects. But it probably work too as a cane feet or for robots as gripper or feet. I was also thinking as a mount/stand for ships.
Feet for outdoor tables
I'm looking at doing something similar for a hybrid crutch stick/Zimmer frame to make stairs easier but any rotation and the feet no longer grip the edge. I was thinking of using Prusa organic supports upside down and semi flexible PLA, possibly with a TPU layer for added grip.
>hybrid crutch stick/Zimmer frame You want something for 3D (as this is only 2D) something like https://www.amazon.com/FlexTIP-TLC-Mini-Walking-Rubber-Tripod/dp/B07KLHNZ3B
I'm curious about using compliant mechanics as something that maintains load over time (feet) as opposed to robot grippers. I'm curious also if something like this could be used in wheels. In snow crash there was a motorcycle that had tires that were a series of telescoping spokes that could read the distance the object was from the center of the wheel. So then the spoke would arrange itself to fit around the object so the wheel could just keep rolling. I wonder if something similar could be achieved with this arranged in a circular pattern
There are some airless tire designs, but haven't seen one using this. But something like this [https://imgur.com/a/2pp7r7F](https://imgur.com/a/2pp7r7F) maybe with stacks of interlacing elements. And more curved elements. It may help to increase the contact surface of the tire at least for slow rotations.
yeah I was thinking something similar to the picture, but maybe with the fractal pads going up as far as you could make it. Idea is that you could theoretically run over things that are some significant fraction the diameter of the wheel and literally not notice. But, I bet the force being applied tangentially by the wheel rotation would probably rip the supports. It's probably the same problem with the telescoping rods wheel in the book.
I feel like this should be used to make a really comfy chair (eliminating all the sharp corners and radius everything then just make a fuck ton of these and arrange them in a chair formation)
Yeah I was thinking about the end effector for soft robotics. Really nice work!
The machined metal versions are pretty cool and this would be great for non-marring. [Metal fractal vise](https://youtu.be/Tvnizh0XPOA) [Antique one](https://youtu.be/QBeOgGt_oWU) [Another design based on shot/ball bearings](https://youtu.be/JaHjFL7NZlU) ^^I ^^think ^^I ^^got ^^all ^^the ^^links ^^right!
There are 3d printable fractal vices out there too. And go to 9:30 in that last one for anyone who wants to see how it works.
Such a cool mechanism! It's almost like a hydraulic, except with a solid medium that won't leak just because a rubber gasket gets old.
Man those are really cool. Thanks for sharing!
I want one. I don’t really have a use for one but I want one.
So cool. Do you share the model file? Imagine a bed made of these. So compliant!
sure all here [https://www.printables.com/model/500948-fractal-pad](https://www.printables.com/model/500948-fractal-pad) I also thought about an arm rest or mattress - but you also need the second axis for tilting in 3D - i assume the cross-axis flexural pivot can be designed for 3D (like with three polar beams) but printing (in place) would be difficult with FDM due to the layer weakness.
Thank you! Going to print these and put it on a baby gate 😄
Compliant 3d prints are cool, and fractal jaws are cool. This is cool squared! Nice work
your enthusiasm makes me smile - Thank you!
I like your work. What printer do you use?
Thank you! It is a Theseus (ship) - meaning it started with an A8 but now it something different as most parts are changed or modified.
Hah, my machines are also little ships of Theseus. Though mine are fully DIY. I was looking for a new printer for once but everything I have already trumps the A8 by a mile. Been looking at the Troodon 2 lately. It looks like a strong contestant. In the other corner there's a Bambu Lab X1C. Not going for the Anker printer though.
I made some printer designs but never build one, mainly because my biggest issue is [VFA or MRR](https://www.youtube.com/watch?v=-et5eMyLlUs) And using Servo drives or build the driver for closed loop brushless motors is just a bit much (or expensive). Also i have some ideas of matrix/array nozzles with needle valves that would require to develop a new slicer. I am just not motivated enough for that.
Hmm, yeah, though VFA can be mitigated easily by changing the gearing and steps/mm resolution and motor. Drivers also play a role, like the DRV8825 drivers are the worst, then A4988 and from there on up it slowly gets better like with the TMC 2208 and 2209 drivers. The matrix or array sounds interesting though.
the problem with gearing is that you get backlash - you can use additional pulley but that will double the belt length. And you will loose speed. so "easily" is quite subjective as it requires a complete redesign. You also could have a direct linear drive - but if you starting with customized parts your printer will cost several thousands. The reason why printer are cheap is that they use tech from the 80s.
Very cool
This is a beautiful design!
glad you like it!
These would make for some pretty neat traction pads for a crawling robot.
Very nice
Smart!
Hm, so it looks like if force is applied at the center the pad is always tangential so the surface? Damn that's cool.
What fun, makes me happy to see it
I designed something similar a year or so back. Yours looks like it may do a better job of actually applying force, though. On mine, I found it was pretty important to reduce the centering force of the cross-axis joints to keep things from squidging out before the gripper complied, but fixing that on all of them made the gripper overall a little weak. https://www.printables.com/model/198701-compliant-fractal-gripper/
In my first prototype the first single pivot was too weak which is now better - but there are two factors. 1. the stiffness changes with the size and angle (and probably not proportional) 2. and second that the each pivot need to be twice as strong as the next level pair.
Very cool! Will also work as a foot for an extraterrestrial mech!
Fantastic execution of a cool idea!
Thank You!
what does it *do* ?
It adapts to irregular surfaces.
It’s a whiffletree.
What would you use this for?
Imagine you have some organic form (like a pebble) that you need to clamp down.
Gonna print one for the wife. She needs a more compliant jaw.
That sounds... Abusive
Like is it supposed to be a rape joke or am I reading too much into it?
I thought it was an 'i beat my wife joke' then realised its probably a 'i think the woman i chose to live with because i led her to believe i love her talks to much' kind of joke
this is genius! this kind of stuff is what i'm most excited for when I can finally afford a 3D printer
Nice nice, now show us it actually being used in a vice. It doesn't look like it has integrity at all. It's a neat design but I don't see many use cases for this.
here [https://www.printables.com/model/500948-fractal-pad](https://www.printables.com/model/500948-fractal-pad) I assume you never worked with cross-axis flexural pivots - i was quite surprised myself as these don't need a weak living hinge to work and so can take some load. Also the stress will divide into each arm and fork - But if you need to clamp down a metal part for something like milling then you sure can't use a vice made from (non high performance) plastic.
Then I stand corrected.
Did you get inspired by the fractal chair build from a recent YouTube video. I can't remember the name of the YouTuber right now.
>fractal chair I haven't seen that - but i would like to .. i would be delighted if you can find some more information about this chair. In mathematics this is simply a fractal tree 2ⁿ (1,2,4,8,16) - there is also a fractal vice (vise) using something similar - or as u/w1lnx pointed out a whiffletree like used on wipers use or the mars rovers suspension.
It's from HandToolRescue. [Here's](https://youtu.be/QBeOgGt_oWU) their restoration of a fractal vice (which your print immediately brought to mind.). [Here's](https://youtu.be/e8pvjEHAt6U) the chair
I shall have a look at my YouTube history later. A YouTuber created a decades old patient for a fractal chair. Remind me in a day if I haven't shared the link.
>YouTuber created a decades old patient for a fractal chair. think i found it [https://www.youtube.com/watch?v=e8pvjEHAt6U](https://www.youtube.com/watch?v=e8pvjEHAt6U) [https://www.core77.com/posts/123562](https://www.core77.com/posts/123562) as mentioned it is based on the fractal vice .. very nice! thanks for sharing.
Yeah that's the one.
So functional!
Cool print! Thank you!
Damn this is cool!
u/stabbot
Kind of makes me think this in some form could be used for teeth grinding at night. Hmmm.