Report on a Kind of Portable Object Retrieval Clamp

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.