== Gripper Design Iterations ==
=== Original Design ===
Problems: Too flexible at fingertips, too stiff in inner surface.
[[File:Gripper 0.jpg|none|300px|The non-optimized gripper based on the UMI study]]
=== Updated Version 1 ===
Used solid tip and fewer ribs in the other section. Assembly with screws remained awkward.
[[File:Stompy gripper version 6.jpg|none|300px|Updated version 6]]
=== Updated Version 7 ===
Decreased profile of Switched cuts to the inside wall and eliminated redundant rib material .[[File:Stomy gripper 7.jpg|none|300px|Updated version 7]] === Updated Version 8 ===Tapered inside wall and extended it to make screw installation process easierthe now restored rib.[[File:Stompy gripper 8.jpg|none|300px|Updated version 8]]