Abstract Despite thriving development in academic and practical scenarios. multi-joint underactuated manipulators is still struggling with grasp stability. especially in case of heavy or irregular-shaped objects. A gripper with fractal morphology is invented to improve the grasping capacity of multi-joint underactuated manipulators. https://poolsproductscanadas.shop/product-category/raypak-els-3-series-heater-parts/