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Changes
Created page with "==Gripper Design Iterations== Original Design: thumb|The non-optimized gripper based on the UMI study Problems: Too flexible at fingertips, too stiff in..."
==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 surface
Updated version 1:
[[File:Gripper version 1.jpg|thumb|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:
[[File:Stompy gripper 2.jpg|thumb|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:
[[File:Stompy gripper version 3.jpg|thumb|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:
[[File:Gripper version 4.jpg|thumb|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:
[[File:Updated version 5.jpg|thumb|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
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 surface
Updated version 1:
[[File:Gripper version 1.jpg|thumb|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:
[[File:Stompy gripper 2.jpg|thumb|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:
[[File:Stompy gripper version 3.jpg|thumb|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:
[[File:Gripper version 4.jpg|thumb|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:
[[File:Updated version 5.jpg|thumb|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
