Gripper for ABB IRB120

This work was made for an assignment project, with the aim of making a printable "hand" for the industrial robotic arm ABB IRB120. We choose a Festo gripper like design, with easy articulated parts, and exchangeable fingers. It was made in collaboration with Lab. de Prototipado Electrónico y 3D de FIUNER. The mechanical operational principle is called Fin Ray effect, and it is based on a flexible structure, with rigid crossbeams, that makes the finger bend to the side where the force is applied.