This gripper was designed by Karl Williams at the kwartzlab makerspace. It is a nice design to emulate. But it does have a few more points of articulation than we would like. The parallel design is a great system, but just having two rigid fingers would reduce the chance of printing errors and would just make the gripper more robust.
This under actuated gripper was designed at the Astana Laboratory for Robotic and Intelligent Systems. It is actually our favorite because it uses only one motor and uses mechanics to adapt to object rather than software making for easier to program a robot to grasp an object with this gripper.
Files for the gripper can be downloaded here. The links to the various files are at the bottom of the page.
This gripper is a nifty design. It is not simple but it is elegant. This is a design we could've used on the first version of Jerry where we used linear actuators to drive the gripper. But servos are easier for the average person. To download the files for this gripper go here
This gripper is another good affordable system, since it uses microservos. But again all the parts leave the chance of printer failure. Download the parts here
This gripper is the simplest gripper that we ran across. Since it uses a microservo it would only cost about $3 to put it on a project. If we were to change anything we would make a version with pads on the fingertips. Download the files here