For this one, each finger has a gear printed at the joint so that when 1 moves the other does also. This can be tougher to print but it is a nice mechanism.
The print went bad about 3/4 of the way through, but we were able to get a proof-of-concept test finished.
We are also making a rigid gripper that can hold a Sharpie, and one that is just a small hook.
|The servo-actuated finger of the 3D printed gripper|