Gripper History
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.
Problems: Tip will not bend around objects Assembly with screws remained awkward Updated version 7:
Decreased profile of rib material to make screw installation process easier
