...
We chose to go with this design because it is lightweight and allows flexibility in what can be picked up. Because we don’t know the specific dimensions and weight of the object we will be required to pick up at competition, this design allows for flexibility to gently and accurately grab any object less than 20cm^3 and 2 kg.
Features and Capability
Theraband
The use of TheraBand allows for a wide range of objects of various shapes and sizes to be secured. By attaching theraband across two rigid frames opposite one another, the object can be centred between these two planes, which are then actuated shut. The elastic force of the TheraBand will increase as it encloses to fit the object. With this, the elastic force creates a strong enough normal force with the object in the horizontal direction, which will correspond to a higher friction force between the theraband and the object thereby opposing the gravitational force of the object.
// insert image here
Actuation
The grabber actuates the two rigid frames allowing them to close around the object being picked up.