Robot Gripper Test Object Challenge

Mounting Plate for Measuring the Gripping Force. Simple mechanism of 2 tubes connected with extension spring The mounting plate screwed to the inner plate and having a clearance hole for a screw that will hold the test object. Reasons for choosing this mechanism: The problem of universal object is divided in 2 major categories (A) Shape Test Objects S.T.O. and (B) Force Test Objects (FTO). -Shape Test Object should have specified geometry and shape so there should be common ground for calculations and result comparison. -Size and shape of object should be cheap manufactured or purchased as cheap commercial item (example tennis ball 67mm, ping pong ball 40mm) -Shape Test Objects can be 3D printed and easily adapted as Force Test Object. -Cheap construction of Mounting base -Easily adjustable for different load calculation with the size of the spring and the tube length. Shapes: -TETRIS blocks simple to manufacture (3d printing, CNC or even paper). -DICE D20 and D12 offering simple geometry but with few combinations.Easy to manufacture or find commercial version. - Drop shape offer many choices to experiment the with the grip angle, I don't see the reason to make something complex, a simple variation of drop size and angle can be manufactured easily. Offering study of specific challenge can unify results and specification of Robotic arms (For the size range i suggest to use Metric and Imperial sizes for the base diameter of the drop shape) -Combination of spheres (STO_02 interesting shape witch simplify and reduce the number of spheres that are commonly used to test the Gripper. Easy Manufacturing for basic item however variation of the material can also offer bigger range of challenging shapes. ** In few word I suggest group of simple shapes that can be easily manufactured or can be found as common commercial items.