AUTODESK arm (21kg, FOS 3.06)

grabcad

This is new version from my previous entry with higher FOS. I added some fillets to get rid of the stress singularities. Also i made the walls around the gripper surface thicker (10mm min) to cope with the real world stresses, although the added mass was not necessary to increase the FOS in Autodesk. Any ideas for improvements are appreciated! Mass = 21051.05 grams Min Safety Factor = 3,061 Max Displacement = 1,934 mm