Changes

==Gripper Design Iterations==Original Design:[[File:Gripper 0.jpg|thumb|The non-optimized gripper based on the UMI study]]Problems: Too flexible at fingertips, too stiff in inner surfaceUpdated version 1: [[File:Gripper version 1.jpg|thumb|Updated version 1]]Made ribs thinner at their ends so that they would bend more easilyAdded triangular cuts along the inner surface to allow the material to flexProblems: The triangular cut closest to the tip caused the inner surface of the grippers to tear

=== Updated version 2Version 1 === Made ribs thinner at their ends so that they would bend more easily. Added triangular cuts along the inner surface to allow the material to flex.Problems: The triangular cut closest to the tip caused the inner surface of the grippers to tear.[[File:Stompy gripper 2Gripper version 1.jpg|thumbnone|300px|Updated Version 2version 1]]Moved slots to only align with the three thickest ribs, reducing potential for tearsCreated an angled profile where the tips of the grippers are narrower than the baseProblems: Screw holes were too large for screws to be inserted from below, tears persisted in some cases

=== Updated version 3Version 2 === Moved slots to only align with the three thickest ribs, reducing potential for tears. Created an angled profile where the tips of the grippers are narrower than the base.Problems:Screw holes were too large for screws to be inserted from below, tears persisted in some cases.[[File:Stompy gripper version 32.jpg|thumbnone|300px|Updated version 3Version 2]]Decreased hole size to allow for better threadingProblems: tears persisted, insufficient clearance for hex key to actually tighten the screws from above (necessary for use with slide rail)

=== Updated version 4Version 3 ===Decreased hole size to allow for better threading.Problems:Tears persisted, insufficient clearance for hex key to actually tighten the screws from above (necessary for use with slide rail).[[File:Gripper Stompy gripper version 43.jpg|thumbnone|300px|Updated version 43]]Decreased profile of rib material to make screw installation process easier, decreased cross section of individual ribs to allow them to bend moreProblems: too flimsy in general, and particularly at tips

=== Updated version 5Version 4 ===Decreased profile of rib material to make screw installation process easier, decreased cross section of individual ribs to allow them to bend more.Problems:Too flimsy in general, and particularly at tips.[[File:Updated Gripper version 54.jpg|thumbnone|300px|Updated version 54]]Restored rib material and eliminated one triangular cut to solve tearing issue, attempted to print entirely without supportsProblems: poor print quality due to lack of supportsUpdated version 6:

Used solid tip === Updated Version 5 ===Restored rib material and fewer ribs in the other sectioneliminated one triangular cut to solve tearing issue, attempted to print entirely without supports.Problems: Poor print quality due to lack of supports.[[File:Updated version 5.jpg|none|300px|Updated version 5]]

Problems: Tip will not bend around objects=== Updated Version 6 ===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 7:6]]

Decreased profile of === Updated Version 7 ===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]]