Concave finger
A 4 mm recessed channel between two lips cradles cylinders and rods on two contact lines.
- DesignHand-designed baseline, no model call
3D preview
- Design id
- 9a0624079454
- Validation
- Valid
- Printed mass
- 15.2 g per finger
- Simulated mass
- 15.1 g per finger
- Bounding box
- 20.0 x 10.0 x 80.0 mm
- Collision boxes
- 14 per finger
Parameters
The ten numbers a designer, human or model, chooses. The marker shows where each sits in its allowed range.
- Lengthfinger_length_mm
- 80 mm
- Thicknessfinger_thickness_mm
- 10 mm
- Widthfinger_width_mm
- 20 mm
- Bend anglebend_angle_deg
- 0 deg
- Bend positionbend_start_frac
- 0.50
- Contact faceinner_face
- Concave arc
- FlatConcave arcV groove
- Face recessinner_face_depth_mm
- 4 mm
- Tip profiletip_profile
- Blunt
- BluntRoundedChamferHook
- Tip featuretip_size_mm
- 0 mm
- Tapertaper_ratio
- 1
On the part
The jaws at the end of closing, from a recorded simulation replay. Switch to x-ray or a cutaway to see where the pads meet the part.
Print pack
The finger mesh is the union of exactly the boxes the simulator collides with, so what you print is what was tested.
- Left fingerSTL, millimetresDownload concave-finger-left.stl
- Right fingerSTL, millimetres, mirroredDownload concave-finger-right.stl
- Mount plateSTL, millimetresNot generated yet
- Robustness certificateHTMLNot generated yet
- Gripper previewGLB, metres, Y-upDownload concave-gripper.glb
Robustness certificate
Each check reruns the grasp with one disturbance on 9 training objects; the count is how many episodes still held.
- Placement errorObject up to 3 mm off target, along x and along y117 of 117
- Shake during holdPalm shakes along x, y and z while holding the object23 of 27
- Lateral pushSideways push at the object's top, along x and along y8 of 18
Open the full certificate: placement-error curve, every shake and push, provenance