1. This paper presents an assembly manipulator with a cupule as the soft-and-mobile paw and with a parallel mechanism as the wrist.

2. Cupule discoid , 4 - 8 mm 1.5 - 2.5 cm, enclosing basal part of nut.

3. The upper cupule or fleshy capsule of the lotus dries out at maturity and separates from the plant.

4. Cupule globose, 6-8 cm in diam. , splitting into 4 or 5 segments, covered with clustered branching prickles .

5. In Spring, tiny flowers called catkins blossom, then develop into acorns , which form inside a cap called a cupule.