## 4 Discussion  
An ideal gripper, in addition to having the ability to grasp various objects, must be lightweight, strong, and reliable. After finalizing the gripper design, various analyses were conducted to ensure its performance in grasping various objects. Topology and stress analyses were carried out in CAD software to minimize the total weight of the gripper without compromising its grasping capability or risking broken parts. The motor was carefully selected based on calculations to ensure it could exert the required force to push the handles and overcome the compression force from the flexible elements for a complete grasp. Once all the analyses were completed in the CAD environment, the gripper components were 3D printed, assembled, and tested with real objects for their grasping performance. Figure 11 illustrates the final assembly of the gripper design in CAD software. The prototype of the gripper was developed using additive manufacturing technology, specifically NYLON Carbon 12 for the main body and TPU material for the flexible grasping element. After 3D printing, all components were assembled according to the CAD model and subjected to testing to assess their performance in grasping objects of different sizes and shapes. The lightweight structure of this design is achieved by utilizing a single actuator, which significantly reduces the device's weight. The overall weight of the prototype mainly depends on the motor, gearbox, and the density of the 3D-printed material used. To further reduce the gripper's weight, the infill can be minimized, and a less dense 3D printing material can be utilized. These measures were implemented in the completed gripper prototype. During experimental evaluation, the gripper demonstrated outstanding performance in grasping objects of different sizes, shapes, and textures, meeting all expectations. It effectively grasped objects with a size difference of up to 7 cm (with a maximum size of 15 cm), as demonstrated by the successful grasping of the six objects presented later in this document, each exhibiting diverse sizes and shapes. To ensure the safety and protection of the electronic components, including the micro-controller, battery (power source), motor driver, and infrared sensor for the remote-control system, they were securely enclosed within a box to shield them from potential liquid  
Figure 11: Final design and assembly of the gripper (CAD model). exposure in the workspace. Figure 12 provides a visual representation of the physical prototype, which is attached to the articulated robotic arm and constructed based on the specified requirements. The figure demonstrates that the gripper effectively grasps and lifts objects with varying sizes, shapes, and textures. During the experiments, the gripper had a few limitations for grasping objects. The maximum payload capacity of the robotic arm used in our tests was 3 kg, meaning that the combined weight of the gripper and the grasped object should not exceed this limit. The overall weight of the current gripper without the battery is 2.5 kg, indicating that the selected object should not weigh more than 500 g. It is important to note that in the final product, the battery will be eliminated, and the gripper will directly connect to the powered articulated robotic arm. Another limitation relates to the dimensions of the objects that can be grasped by the gripper. The grasping area of the flexible element measures 14 cm \(\times\) 6 cm, with a deformation capacity of 3.5 cm for each flexible element., This allows the gripper to accommodate objects with a width difference of 7 cm and a maximum width of 15 cm (which is the farthest the gripper handle can open). Various objects were used during the experiment to evaluate the gripper's performance. Figure 12 showcases six sample objects of different sizes, shapes, and textures, including a soft-textured orange, a fragile-surfaced egg, a small bottle of super glue, a randomly oriented square box, a distinct pitcher glass, and a gear.