WB04

Esmee

A simple arm lifted by expanding one actuator, located under the arm. The gripper is attached to the arm with two joints. The gripper consists of two halves which are joined together by compressing the actuator between them.

Marko

A straightforward arm lifted by compressing one actuator, located above the arm. Two springs are also attached to the wall and the arm to generate additional vertical forces on the arm. The gripper consists of pliers that close by compressing an actuator.

Marko 2

The arm consists of a rigid plateau that rotates around its centre-line, which is connected to the wall. Two actuators with counterweights are placed on the plateau. By extending the arms of the actuators the centre of gravity is moved towards the wall, creating a moment clockwise moment, causing the plateau to rotate. The gripper consists of two halves which are joined together by compressing the actuator between them.

Fernão

The arm consists of two parts, both individually controlled by an actuator. The large one being controlled by the large actuator and the smaller one being controlled by a smaller actuator. The gripper itself consists of four smaller parts, connected by two axes. The other smaller actuator makes these parts move by extending and retracting and so, make the gripper grab a hold of the cup.

Naresh

The arm of this gripper consists of two scissor mechanisms, one moving in a horizontal direction, and another moving in a vertical direction. These translations are achieved by compressing two individual actuators. The gripper itself consists of pliers that close by compressing an actuator.

Anna

The “arm” of this gripper consists of a set of pulleys, meant to maximize the vertical distance covered by the gripper. The gripper consists of two halves which are joined together by compressing two actuators, which are placed diagonally, between them.

Stijn

The gripper is lifted by a very simple arm, consisting by one rigid arm. The arm is placed along the wall where it will move over one fixed point vertically up and down. The gripper consists of four vertically placed pairs of arms, which are compressed together by one actuator on each side, squeezing one side of the cup between them.

Daan

This gripper consists of four vertically placed pairs of arms, which are compressed together by one actuator on each side, squeezing one side of the cup between them.