Embedded Files
Soft gripper
Soft gripper
Initial idea to utilize Franka gripper motion to actuate soft gripper
Inspiration:
Parts
Parts
red - soft gripper
orange - anchor to Franka body
blue - anchor to Franka fingers
green - piston translating finger motion into perpendicular axis
purple - stem cutter, anchored to fingers
First version
First version
left finger - printed
Current issues
Current issues
bending in the wrong axis
slip (contact surface size?)
anchoring
Todo
Todo
wider fingers - to better fit inside anchor
anchor anchor - 3d printed fitted housing for green parts, such that piston slides without rotation
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