Fin Ray Adaptive gripper for Gobilda pattern

This was created to solve some issues we had with a rigid gripper.

It was inspired my other grippers using the Fin Ray effect, such as the Festo adaptive gripper, this enables it to flex and bend to take the shape of any object you are trying to grab.

Our FTC team, 18840 The Reynolds Roborunners used this design in the 2022-2023 season Powerplay, it was even used in the 2023 World championships in Houston TX!

We glued pieces of rubber bands to the inside of the gripper to give it more grip

PRINTING

This being a flexible part, you have to print it with TPU or other flexible filament

Layer height doesn't matter

Make sure you print with at least 10 walls, this is to make the mounting holes strong enough to hold the screws and not just bend