Content Comparison

Iteration Documentation

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This is the initial compliant finger design. It was parametrically designed, so that we can easily alter our design as well as feed design parameters into the kinematics model to exhibit our force and motion profiles for each design.

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Although the second iteration improved compactness and actuator integration, it also revealed a new problem. Because the flexures were thinner, the TPU was less stiff, and the tendon slots were narrower, friction became too high and the finger became overly compliant. As a result, the finger did not reliably return to its resting position after curling. This iteration was still valuable because it highlighted the tradeoff between compliance and recovery. Based on this result, the next iteration should increase stiffness by either using a stiffer TPU, increasing flexure thickness, widening the tendon slots, or combining those changes. Overall, these iterations helped us move from a simple manually driven concept to a more integrated motor-actuated prototype while identifying the main design changes needed for the next build.

Bill of Materials