Object
Whiteboard Eraser
7.5x2.5x2 inch
Cardboard Box
Scotch Tape
Plastic Cup
10x2.5 inch
Blue Cylinder
Stapler
Weight (g)
top grasp Observations
Side Grasp Observations
14
Grasp at 400 Degrees*
Able to pick up object
Contact at 2 points
28
Firm Grasp at 350 Degrees
Firm Grasp at 350 Degrees Contact at 4 Points
Contact at 4 Points
Same as top grasp
30
Grasp at 390 Degrees
Able to pick up object
Contact at 2 points
34
Grasp at 340 Degrees
Able to pick up object
Contact at 2 Points
Grasp at 360 Degrees
Able to pick up object
Same as top grasp
160
Firm grasp at 370 degrees
Able to pick up and shake
Contact at 4 points
Better than side grasp
Firm Grasp at 350 Degrees
Object could slip
Not as good as top grasp
194
Grasp at 400 Degrees but
Firm Grasp at 430 Degrees object can move
Contact at 2 Points
Contact at 4 Points
Picture
Green Vase
Stapler 2
Green Mug
Measuring Tape
RPI Mug
5x5x10 inch
Red Prism
200
Grasp at 300 Degrees
Able to pick up and shake
Contact at 2 Points
Loose, Vase is able to move
332
Firm Grasp at 420 Degrees
Contact at 2 points
368
Grasp at 380 Degrees
Able to pick up object
Mug still moves
Contact at 2 points
396
Grasp at 430 Degrees
Able to pick up object
Contact at 2 points
410
Firm side grasp at 500
Degrees
Able to lift object
Contact at 2 points
560
Grasped halfway up vase at
310 Degrees
Contact at 4 Points
Better than top grasp
Grasp at 400 Degrees but no
able to pick up
Able to pick up at 420
Degrees
Better than top grasp
Firm grasp at 570 Degrees
Able to lift object
Contact at 2 points
4x6x1 inch
Hard Drive
Tape Holder
1.75x6x0.75 inch
Thin Weight
Drill Battery
4x12 inch
White Cylinder
Red Robot
702
Firm grasp at 500 Degrees
Able to pick up object
Contact at 2 points
728
Firm grasp at 440 Degrees
Able to pick up object
Slightly Shakey
Contact at 2 points
796
Firm grasp at 650 Degrees
Object must be centered
Contact at two fingertips
958
Firm grasp at 480 Degrees
from bottom of battery
Contact at 2 points
Not able to firmly grasp
object anywhere but from
the bottom
Firsm Grasp at 550 Degrees
Able to lift object
Contact at 2 points
980
2140
After 4 weeks, firm grasp
required 500 degrees
indicating rubber and servos
have been worn down
Grasp at 550-600 Degrees
Unable to pick up object*
Due to the robot’s irregular
shape, the hand could not
lift the object
5x11x2.5 inch
Power Supply
Dell Laptop
2335
2595
Steady grasp at 500
degrees
Able to pick up object
Contact at 2 points
Fingers must be centered to
maintain balance
Grasp at 600 Degrees
Unable to pick up object*
Laptop is too thin and hand
does not have enough
contact points to be able to
life the laptop
General Notes
Hand is able to grasp and lift heavier
objects if they are thinner/smaller
If the hand has to close a greater amount of
degrees, more stress it put on the servos
and it was trouble picking up heavier
objects
The wider the grip, the lighter the object
must be in order for the hand to lift it
Tendons are more stressed when picking up
wider and heavier objects
For irregular shaped objects, the hand was
not able to grab on the center of mass and
therefore was not able to lift the object
even when a grasp was attained