Difference between revisions of "Gripper History"
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| − | ==Gripper Design Iterations== | + | == Gripper Design Iterations == |
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| − | + | === Original Design === | |
| − | [[File: | + | 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]] | |
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| − | Updated | + | === Updated Version 1 === |
| − | [[File: | + | 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. | |
| − | + | [[File:Gripper version 1.jpg|none|300px|Updated version 1]] | |
| − | Updated | + | === Updated Version 2 === |
| − | [[File: | + | 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. | |
| − | + | [[File:Stompy gripper 2.jpg|none|300px|Updated Version 2]] | |
| − | Updated | + | === Updated Version 3 === |
| − | [[File: | + | 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). | |
| − | + | [[File:Stompy gripper version 3.jpg|none|300px|Updated version 3]] | |
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| − | + | === Updated Version 4 === | |
| + | 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. | ||
| + | [[File:Gripper version 4.jpg|none|300px|Updated version 4]] | ||
| − | Problems: | + | === Updated Version 5 === |
| − | + | Restored rib material and eliminated one triangular cut to solve tearing issue, attempted to print entirely without supports. | |
| − | Updated version | + | Problems: Poor print quality due to lack of supports. |
| + | [[File:Updated version 5.jpg|none|300px|Updated version 5]] | ||
| + | === Updated Version 6 === | ||
| + | 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]] | ||
| − | Decreased profile of rib material to make screw installation process easier | + | === Updated Version 7 === |
| + | Decreased profile of rib material to make screw installation process easier. | ||
Revision as of 05:03, 1 June 2024
Contents
Gripper Design Iterations
Original Design
Problems: Too flexible at fingertips, too stiff in inner surface.
Updated Version 1
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 2
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 3
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 4
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 5
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 6
Used solid tip and fewer ribs in the other section. Assembly with screws remained awkward.
Updated Version 7
Decreased profile of rib material to make screw installation process easier.
