Grasping

Soft gripper

Initial idea to utilize Franka gripper motion to actuate soft gripper

Inspiration:

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

left finger - printed


Current issues

  • bending in the wrong axis

  • slip (contact surface size?)

  • anchoring

Todo

  • wider fingers - to better fit inside anchor

  • anchor anchor - 3d printed fitted housing for green parts, such that piston slides without rotation