==Gripper Design Iterations==Original Design:[[File:Gripper 0.jpg|thumb|The non-optimized gripper based on the UMI study]]Problems: Too flexible at fingertips, too stiff in inner surfaceUpdated version 1: [[File:Gripper version 1.jpg|thumb|Updated version 1]]Made ribs thinner at their ends so that they would bend more easilyAdded triangular cuts along the inner surface to allow the material to flexProblems: The triangular cut closest to the tip caused the inner surface of the grippers to tear

Updated version 2=== Original Design ===Problems: Too flexible at fingertips, too stiff in inner surface.[[File:Stompy gripper 2Gripper 0.jpg|thumbnone|Updated Version 2300px|The non-optimized gripper based on the UMI study]]Moved slots to only align with the three thickest ribs, reducing potential for tearsCreated an angled profile where the tips of the grippers are narrower than the baseProblems: Screw holes were too large for screws to be inserted from below, tears persisted in some cases

=== Updated version 3Version 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.[[File:Stompy gripper Gripper version 31.jpg|thumbnone|300px|Updated version 31]]Decreased hole size to allow for better threadingProblems: tears persisted, insufficient clearance for hex key to actually tighten the screws from above (necessary for use with slide rail)

=== Updated version 4Version 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.[[File:Gripper version 4Stompy gripper 2.jpg|thumbnone|300px|Updated version 4Version 2]]Decreased profile of rib material to make screw installation process easier, decreased cross section of individual ribs to allow them to bend moreProblems: too flimsy in general, and particularly at tips

=== Updated version 5Version 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).[[File:Updated Stompy gripper version 53.jpg|thumbnone|300px|Updated version 53]]Restored rib material and eliminated one triangular cut to solve tearing issue, attempted to print entirely without supportsProblems: poor print quality due to lack of supportsUpdated version 6:

Used solid tip and fewer === 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 the other sectiongeneral, and particularly at tips.[[File:Gripper version 4.jpg|none|300px|Updated version 4]]

=== Updated Version 5 ===Restored rib material and eliminated one triangular cut to solve tearing issue, attempted to print entirely without supports.Problems: Tip will not bend around objectsAssembly with screws remained awkwardPoor print quality due to lack of supports.[[File:Updated version 5.jpg|none|300px|Updated version 7:5]]

=== Updated Version 7 ===Decreased profile of rib material to make screw installation process easier.