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The inserted item was a 12mm thick by 21mm width eraser for simplicity and speed of testing
Test Item sizes
| Item | Diameter (cm) |
|---|---|
| Soda Can | 6.6 |
| Gatorade Bottle | 7.1 |
| Weird Triangle Puzzle | 6.3 |
Node that for competition the maximum item size to grapple is 5cm
Results
| Grapple object | Without Spacer | With 15mm Spacer | With 21mm Spacer |
|---|---|---|---|
Soda Can | |||
| Gatorade bottle | |||
| Weird triangle puzzle |
Discussion
There was much less adaptability at 21 mm compared to 12 mm, more force was required. This is because when the spacing gets too large, and the item diameter gets too big, the tangential contact surface is closer to the tips of the claw rather than the inside pivot point. The best adapability was seen when the contact point was at or a little below the pivot points, i.e. the inner pivot points and the center point of the object form a straight line or a triangle facing inwards
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