FTC Ultimate Gripper

<Note: revised 2/4/2023: updated fingers for strength >
This is a gripper for the FIRST FTC PowerPlay season. Its articulated fingers wrap around and grab on to the cones and won't let go until you want it to. I have one more thing to add and that's a way to tilt the gripper down so you can pick up fallen cones... then it'll be just about perfect :-)...

Key features:

• in "transport" mode, it's almost flat against the robot
• the fingers wrap around the cone anywhere along the height and won't let go...
• A single servo (I use a 20kg-cm torque, 270° model (cheap from amazon).

Lots of parts....
NOTE: you'll need to add your own mount in this current iteration... I would add it to the Mounting Block part (import the STL and add a mounting panel... I'll be adding one for Gobuilda pattern soon.