[Chiprobot] has created an amazing compliant gripper. Designing robot hands (or end effectors) can be a perilous task. It is easy to give robots big, good, strong hands. Strong grippers have to be controlled by sensors. However, sensors can’t always be relied upon to ensure those hands don’t crush anything they touch. Hardware fails, software has bugs. Sometimes the best solution is a clever mechanical design, one which ensures a gripper will conform to the object it is gripping. We’ve seen “jamming” grippers before. (so named for their use of a granular substance which jams around the object being gripped).
[Chiprobot’s] gripper is something entirely different. He designed his gripper in blender, and printed it out with his Ultimaker 3D printer. The material is flexible PLA. Three plastic “fingers” wrap around the object being gripped. The fingers are made up of two strips of printed plastic connected by wire linkages. The flexible plastic of the fingers create a leaf spring design. The fingers are attached to a linear actuator at the center point of the gripper. The linear actuator itself is another great hack. [Chiprobot] created it from a servo and an empty glue stick. As the linear actuator is pulled in, the fingers pull around any object in their grip. The end result is a grip strong enough to hold an egg while shaking it, but not strong enough to break the egg.
We would like to see the gripper gripping other objects, as eggs can be surprisingly strong. We’ve all seen the physics trick where squeezing an egg with bare hands doesn’t break it, yet squeezing an egg while wearing a ring causes it to crack much… like an egg.