Multimedia

Gripper Iteration

Over the course of this project, numerous models of grippers were developed and tested for effectiveness and ability to achieve the scope of the sponor. Below are some of the models.

Mechanism 1

This design detects the top of a petri dish, grabs on to it with tendon fingers, flips it over, and then lifts the dish bottom with a two bellowed suction cup.

Mechanism 2

This design slides between petri dishes with a spatula esque wedge for retreival, rotates the dish, and the uses a linear rail and gasket suction to remove the dish bottom.

Mechanism 3

This design utilizes a spatula wedge variant to retrieve a petri dish, and dual actuating elastomer to separate the dish lid from the base so that it may be imaged.

Mechanism 4

This design uses a finger wedge to obtain a petri dish and brings it to a resting location, where the gripper rotates and uses dual actuating elastomer to remove the dish lid.

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