![](https://s3images.coroflot.com/user_files/individual_files/611965_sklgwzrlx8ka_7kxp3oay5fx5.jpg)
Initial hand sketched mechanical drawing of the end effector gripper inspired by the design of a shower head. Shown also on the drawing is the latex balloon filled with the coffee granules - essence of the universal gripper's gripping mechanism.
![](https://s3images.coroflot.com/user_files/individual_files/611965_8xlviwsw4mfz50glx2jhyrvfk.png)
3D Solidworks drawing of the end effector gripper. Shown on the left is the assembly of the 3 subcomponents and on the right the exploded view.
![](https://s3images.coroflot.com/user_files/individual_files/original_611965_Jsju6hDHjFGPan7MqWddfPfw4.jpg)
2D view of the bottom section of the gripper with smart dimensions.
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![](https://s3images.coroflot.com/user_files/individual_files/original_611965_R8THzb0TTGLGYzWaehFH5KLEr.jpg)
2D views of the top section of the gripper with smart dimensions.
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![](https://s3images.coroflot.com/user_files/individual_files/original_611965_3D2oz5LvN7KehwmnXEitw8f4a.jpg)
2D views of the middle section of the gripper with smart dimensions.
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![](https://s3images.coroflot.com/user_files/individual_files/611965_xatn9veasv5dd7xlkqximynj5.png)
On the left: picture of the Rhino Robot Manipulator with letters to identify each joint.
On the right: Model of the kinematics of the Rhino Robot Manipulator on Mathematica.
![](https://s3images.coroflot.com/user_files/individual_files/611965_wespohlmxv6tbhjvc8e45ukyb.png)
Testing the Gripper's performance on 10 different objects. Some balloons ruptured during the experiments due to high pressure, strain, fatigue, and stress concentration. Therefore, balloons made out of sturdier materials should be used rather than latex. Success rate varied depending on the object size, surface area, and roughness.
![](https://s3images.coroflot.com/user_files/individual_files/611965_jgu2pfjjxmxaucr8js9jpex73.png)
Testing the Vision and Kinematics system on 3 objects and concluded a 100% success rate.
![](https://s3images.coroflot.com/user_files/individual_files/611965_ayt2nuwatg_biya4g_uatmvpc.jpg)
Picture showing the robot handing the picked-up tool to the user.
![](https://s3images.coroflot.com/user_files/individual_files/original_611965_UUTNgUThkjJQ8xBke7hhy2gR9.jpg)
Demo Day Poster.
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![](https://s3images.coroflot.com/user_files/individual_files/original_611965_JyuyF_9ASWDcqnXfq_rw_cgTV.jpg)
Demo Day Presentation.
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