Abstract

Fractal structures are unique in the sense that they are highly expandible or collapsible and yet they are capable of preserving their basic structural geometry in a dynamic fashion. This dynamic geometric invariance opens up a new territory in fractal solids, i.e., fractal structures, mechanisms and robot manipulators. Some of these structure are in the form of highly deployable mechanisms and possibly redundant, multi-axis, multi-arm, multi-finger robot manipulators whose kinematic structure is fractal. Thus, simple fractal structures, such as triadic cantor set, and fractal functions, such as the Weirstraus-Mandelbrot functions, govern the structural branching of such robots and essentially define their kinematic structure. These deployable fractal structures, mechanisms and robot manipulators are shown to be capable of generating unique, and yet unparalleled properties such as computer-controlled microsensing even down to molecular level (micromachining) and computer-controlled dynamics such as the creation of hypervelocity fractons with speeds in the range of hundreds of kilometers per second. A number of structures and mechanisms and their unique properties are presented in this paper and a simple kinematic model is presented and briefly discussed.

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