Team 26 - Final Prototype

The final model we created for this class is capable of grasping onto objects, either using user input remote control or using closed-loop control to grasp the target object until a desired grasp force is achieved. It successfully retains its grip when motor power is cut, and its ability to not be backdriven means that limits on exertable force come from the material properties of the links. The gripper can close around roughly cylindrical objects of varying diameter, and performed well when tested on different trees around UT.

In the demonstration below, the gripper is actuated first with user-input remote control (green LED) before being switched over to autonomous grasp force target control (red LED). The gripper grasps onto a paper towel roll until it reaches its target force, then is shown passively hanging from it. 

Here is the same video, but sped up to 4x speed.

And finally, some images of the gripper passively perching on and hanging off of tree branches and other objects of various sizes, textures, and overhang angles around UT's Anna Hiss Gymnasium.

In the Wild