19.5 -> Final Demonstration
For demonstration day, we presented our project using a setup that highlighted both our final design and its development process. We displayed the final mechanism alongside several prototype iterations of the base links (left) and finger mechanism (right). To demonstrate adaptive grasping, we used three test objects, including a tennis ball, watch cushion, and rubber duck, each chosen to showcase different grasping behaviors.
In the video below, we first demonstrate the initial four-bar mechanism using the watch cushion. When oriented lengthwise, the fingers move as a single unit to grasp the object, and the torsional spring remains unengaged.
When grasping the tennis ball, however, the motion changes. The proximal segments become constrained, activating the second four-bar mechanism. This causes the torsional spring to flex, allowing the distal segments to rotate and conform around the object.
Together, these demonstrations highlight the mechanism’s two primary grasping modes and its ability to adapt to objects of varying shapes and sizes.