Thank you for visiting our website! We, seven students currently in our first year of mechanical engineering at the TU Delft, constructed the gripper Franky Four Fingers for our first project. The main task of this project was to design a gripper which has to lift a plastic cup filled with an unknown substance. The project started at the start of September. We received three pneumatic actuators to control our gripper, whether we wanted to implement them was up to us. We started off with doing some basic research to discover the properties of the actuators and other components commonly found in grippers, such as springs and pulleys. Every member of the group came up with their own design on what the arm and gripper would look like and how it would work. Those designs, which were combined to form the end product, will later on be shown and explained.
When we got the design of the gripper we wanted to use, we started constructing it. When we finished constructing Franky, we tested it to see if it worked and it turned out pretty nicely to be Frank. Let’s take a look!