Difference between revisions of "Gripper History"

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== Gripper Design Iterations ==
 
== Gripper Design Iterations ==
 
=== Original Design ===
 
Problems: Too flexible at fingertips, too stiff in inner surface.
 
[[File:Gripper 0.jpg|none|300px|The non-optimized gripper based on the UMI study]]
 
  
 
=== Updated Version 1 ===   
 
=== Updated Version 1 ===   
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Used solid tip and fewer ribs in the other section. Assembly with screws remained awkward.
 
Used solid tip and fewer ribs in the other section. Assembly with screws remained awkward.
 
[[File:Stompy gripper version 6.jpg|none|300px|Updated version 6]]
 
[[File:Stompy gripper version 6.jpg|none|300px|Updated version 6]]
 +
  
 
=== Updated Version 7 ===
 
=== Updated Version 7 ===
Decreased profile of rib material to make screw installation process easier.
+
Switched cuts to the inside wall and eliminated redundant rib.
 +
[[File:Stomy gripper 7.jpg|none|300px|Updated version 7]]
 +
 
 +
=== Updated Version 8 ===
 +
Tapered inside wall and extended it to the now restored rib.
 +
[[File:Stompy gripper 8.jpg|none|300px|Updated version 8]]

Latest revision as of 21:49, 3 June 2024

Gripper Design Iterations[edit]

Updated Version 1[edit]

Made ribs thinner at their ends so that they would bend more easily. Added triangular cuts along the inner surface to allow the material to flex. Problems: The triangular cut closest to the tip caused the inner surface of the grippers to tear.

Updated version 1

Updated Version 2[edit]

Moved slots to only align with the three thickest ribs, reducing potential for tears. Created an angled profile where the tips of the grippers are narrower than the base. Problems: Screw holes were too large for screws to be inserted from below, tears persisted in some cases.

Updated Version 2

Updated Version 3[edit]

Decreased hole size to allow for better threading. Problems: Tears persisted, insufficient clearance for hex key to actually tighten the screws from above (necessary for use with slide rail).

Updated version 3

Updated Version 4[edit]

Decreased profile of rib material to make screw installation process easier, decreased cross section of individual ribs to allow them to bend more. Problems: Too flimsy in general, and particularly at tips.

Updated version 4

Updated Version 5[edit]

Restored rib material and eliminated one triangular cut to solve tearing issue, attempted to print entirely without supports. Problems: Poor print quality due to lack of supports.

Updated version 5

Updated Version 6[edit]

Used solid tip and fewer ribs in the other section. Assembly with screws remained awkward.

Updated version 6


Updated Version 7[edit]

Switched cuts to the inside wall and eliminated redundant rib.

Updated version 7

Updated Version 8[edit]

Tapered inside wall and extended it to the now restored rib.

Updated version 8