Gripper History

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

Switched cuts to the inside wall and eliminated redundant rib.