[Rob Colatutto]

My personal experience with my teams roller gripper from 2007 was this, too much weight. Its very important to keep the weight down on these, its quite easy to get carried away. One other challenge was to design a gripper structure that was light enough to meet our weight goals and work with our wrist actuator design, but at the same time being strong enough to withstand taking a beating on the field and still grab the tubes correctly. We had a match or two where a robot hit us head on with the gripper out, and then it required some 'tweaking' to get the opening size correct. We also prototyped a few different wheel configurations, and tried many different wheel materials, this was very, very useful.