Flipper: The SoftRobotic-Gripper

This Softrobotic Gripper was built as a Group project over a 25 week period as part of the Humanoid robotics studies at the Beuth University of Technology Berlin.
The gripper is making use of two Softrobotic fingers and an antagonistic thumb.
The two-finger are rotatably mounted, because of that, the hand is capable of 3 different gripping strategies.
The Grippers themselves are printed in a flexible material, they automatically adapt to the object without damaging it and therefore you don't need to worry about using too much force.

The hand is tendon-driven by 3 Dynamixel motors: one XL330 for the thumb, one XL430 for both fingers, and another XL330 rotating the two fingers to change to gripping strategy.
The motor plate is of course designed exactly for these three motors.
Furthermore, these motors are controlled by an Arduino MKR + DynmaxielShield. The GitLab repository with C++ Code that we used for gripping the Egg, Sponge and Tube: https://gitlab.com/hrob-project/hrob-pr