Place the object on your desk and mark the surfaces you can grip. A thin cup, a foam block, and a metal bracket impose different limits. Measure the object and note which surfaces can tolerate contact. Sketch the required approach direction before drawing the fingers.
Mock up the contact
Use card or a simple printed shape to check the fingers’ reach. Leave room for the object to enter and for the fingertips to clear the support surface. You can discover a collision in this mock-up before selecting an actuator.
Give each test object a label. If you add a soft pad to the finger, record the material and thickness. Keep the object’s starting pose consistent while you compare pad shapes. Describe slips and visible deformation instead of reducing the test to a single success label.
Plan the release
A grasping test should include putting the object down. Watch for a pad that catches the edge or a finger that drags the object as it opens. Check the release with the same care you give the pickup.
For the next build log, photograph the contact from two directions and include a drawing of the finger. Publish the dimensions you changed after the first test. Readers can reproduce a design decision when they can see the object and the clearance you needed.
Have a correction or a different result? Write to the editor.
