This week I managed to build the fully functioning gripper system as all the necessary parts arrived. I ran extensive testing on the gripper to figure out the right amount of filling in the balloon for optimal performance regarding picking up items ranging from 0.1 kg – 1 kg, 5 cm – 20 cm in length of various shapes. Over 400 tests, what we noticed was that for optimal grip, the balloon conforming around the object is more important than having great suction being applied to the balloon.
I also built the arm out of two servos and tested it with the gripper at the end of the arm, but lost the axle that is required for the rotation of the arm while also not filming the arm working.
Next week, I intend to mount all the necessary parts onto the robot base using Velcro strips and threaded metal standoffs while continuing to work with Omar on making the robot move using the Xavier, which we could not do this week.