Team 21's final design provides an elegant solution to the functional requirements posed by the sponsor, TACTUS AI. With a multi bar linkage that converts X axis motion into perpendicular Y axis motion, the gripper uses the existing motor and linear slider assembly of TACTUS' Lab Assistant to retrieve petri dishes. The soft Elastomeric Contacts enable dual actuation by simply varying the application pressure, and allow for just the petri dish lid or lid and bottom to be obtained.

Following Tactus AI's efficient design philosophy, all the red gripper components were manufactured using  Bambu 3D printers with PLA filament. By using a 3D printing process, the production is cheap, parts are easily replaceable and sourced, and models can be adjusted in the CAD files. The Elastomeric Contacts are an Ecoflex 10 silicone rubber, which is synthesized by mixing a two part solution and letting cure overnight.