# Using A Rotary Spring-Driven Gripper to Manipulate Objects of Diverse Sizes and Shapes
## 1 Introduction  
The world is currently experiencing the robotics revolution, marking a significant milestone after almost a century of industrial and manufacturing advancements [1]. Automation and robotic systems have permeated various aspects of human lives, holding the potential to revolutionize employment and organizations [2]. Military robots, which were once confined to the realm of science fiction, have now become a tangible reality [3]. Additionally, robotic manipulators have emerged as invaluable tools across diverse applications, capturing the attention of scientists and researchers [4]. The rapid expansion of the global population has created an escalating demand for food and beverages, prompting companies to transition from traditional packaging systems to automation and robotics. However, while these endeavors emphasize technological sophistication, simplicity in design is often overlooked. Moreover, the high initial cost and maintenance expenses associated with robotic systems render them impractical for small-scale and local companies. As a result, companies prioritize specific parameters when considering automation solutions, including multitasking capabilities, simplicity in part interchangeability, and cost-effective part replacement. Within the human body, hands hold paramount importance due to their primary function of grasping objects. In 2000, the Utah/MIT dexterous hand stood out as one of the most sophisticated multi-fingered robotic hands developed to date [5]. Despite significanttechnological advancements, most grippers still imitate the capabilities of human hands, primarily serving as platforms for testing and developing tactile sensing systems [6]. Experimental studies have unveiled the following three unique manipulative abilities that are exclusive to humans: precise handling, forceful precision grasping, and power squeezing [7]. These abilities encompass a wide range of human activities that have fostered safety, prosperity, and luxury in human civilization. Technological push, encompassing mechanization, automation, digitalization, networking, and miniaturization have become integral parts of the industrial practice [8]. This demand has led to groundbreaking inventions aimed at reducing repetitive actions and enhancing consumer convenience. Affordable mass-produced motor vehicles have empowered millions of low-income consumers, while smart image processing has revolutionized product quality control. Robotic bartenders now serve drinks in bars, significantly impacting people's lives. Robotic grippers play a vital role in enabling robots to execute repetitive tasks effectively. While some robots rely solely on mechanical functions, others integrate advanced features such as communication and feedback systems [9]. As end-of-arm tools, robotic grippers stand as indispensable components of robotic manipulators, distinguishing the overall process of robotic manipulation [9]. Their significance extends beyond industrial applications, and they have been used in fields like surgery, rehabilitation, and space exploration. This also can be understood more by studying the importance of industrial robots [10]. Vision-based robotic systems utilizing diagnostic images facilitate precision cutting, drilling, and other surgical tasks [11]. In the domain of rehabilitation, robotic grippers are instrumental in restoring manipulative functions for disabled individuals, bridging the gap between the user and the environment [11]. Furthermore, in space exploration missions, robotic grasping tools play a crucial role in remote sample collection. Researchers have explored various types of grippers, ranging from mechanical grippers to sensory feedback grippers, multiple-fingered grippers, vacuum grippers, adhesive grippers, clamp grippers, roller grippers, air hand grippers, and inchworm grippers, to achieve novel functionalities and address diverse application requirements [9].