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The main star of this entire assembly was really the sorbothane pads used for grip. The pads are so sticky and squishy that it can pick up literally anything. It also has extremely good performance for moment loads (picking up the end of a hammer, not the head) the coefficient of friction used in calculation was 0.6, but based on feel it was easily more than 1. This means that the torque exerted is most likely more than required. More testing will have to be done to confirm this. This info can be used help reduce the weight as well as increase the speed of the mechanism. More testing should be done.
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Test footage of the end effector, the adaptive links were locked, and the gripper was able to pick up anything and everything.
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