Key features:

in "transport" mode, it's almost flat against the robot

the fingers wrap around the cone anywhere along the height and won't let go...

A single servo (I use a 20kg-cm torque, 270° model (cheap from amazon).

Post-Printing

Assembly Notes

2mm and 3mm socket head screws are required. all 3mm screws are 16mm long. 2mm screws are 6mm long.

For the gear shafts, shoulder screws are good (3mm screw, 4mm x 10mm shoulder). Alternatively, what I used was sections of 4mm OD/3mm ID Stainless tubing from Amazon to perform the same function as the shoulder. I cut 10.5mm long sections to use as gear shafts, held in place with standard 3mm screws.

I use the 'round' servo "arm" screwed to the drive gear using 2mm screws.

You need to get some small rubber bands (I use tiny hair rubber bands) to attach the arm of the distal segments to a screw in the back proximal segment to "tension" each finger. I use 2 bands per finger (in case on breaks)...

The "notch" in the back of the distal segments needs to be opened up after printing... best tool is an x-acto hobby saw.

You may need to file the gears (triangular needle file) to ensure proper engagement..

For Pads on the "tips", I used 1/8" thick weatherstripping material from Home Depot.

Files created by user: nanoplane on Thingiverse (Design 5706803)

https://www.thingiverse.com/thing:5806803

FTC Ultimate Gripper

0.2mm layer, 3 walls, 15% infill

0.2mm layer, 2 walls, 15% infill