Bistable Compliant Fractal Robot Gripper
Description
Designed according to the functional principle provided by BYU. I have added more joints to make it snappier and stiffer. There is also a small lever that makes it easy to operate the gripper. When the gripper is not activated, it is always open. When actuated, it closes and remains closed until it is opened again. Currently, objects up to a thickness of approx. 3 mm can be gripped. By adapting the design of the gripper, it would also be possible to grip larger objects without any problems. I also tried to make the tip of the gripper fingers flexible with a compensation mechanism so that they can adapt to small irregularities in the object to be gripped. However, the compensation mechanism is still far from perfect, and I am not satisfied with the springs that are supposed to return it to its original position. The project is a fun project and I will try to upload new versions regularly. Update v8: I have completely rebuilt the cad model, the structure now makes more sense and is clearer. Therefore, "Bistable Gripper new" is the current model. The fractal gripper fingers are not yet fully working. It the fractal works as intended one day, it is supposed to adapt to different shapes of objects. Update v10: I added text containing the version to make it more organized. Also changed the left part of the Gripper Finger, maybe this will work better. Will improve it with springs if it works out as intended. Update v14: I used another Project (https://www.thingiverse.com/thing:5000864) to figure out which joint should work best for the Gripper finger and changed it. I also changed the angle of the fractal and reduced it: only two layers instead of three. V15: I accidently messed up the position for the slots next to the joints, their position is fixed now. V16: changed the joints at the tip of the finger. I kept the double X joint at the back because it is a bit stiffer and changed the joints in the front to a X array so that they are more flexible.
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