One Scalable Object For All (curve)

grabcad

From my experience working with robotic grip I think basing the shape off a curve with variable innards is the right approach. You can scale the size of the curve to be approximate to the size of objects you are working with. You can change the thickness of the shell or the porosity. You can change the surface material to represent something easy to be scratched or something that may easily damage your robotic gripper. You can even change the density of the liquid, or the amount, to test for moments during travel. One thing I think is important to include is the flat bottom surface which will best represent the possible holding force of whatever the object is attached to. I know this design represents a lot of elements from lens pickup, but I truly think it is a module test bed that is hard for even the human hand to transport. Sure, you could make one object with many common features that each type of gripper could do well at, or you could make the hardest object to pickup with any type of gripper and modulate it to fit the type of material/situation you will be picking up. To further my example it is easy to picture how this object will represent the egg, but you may ask how does it represent the pliers? To do that you would develop the curve surface to have a center of gravity about where the pliers would while providing the holding force the handles may have when in contact with the bed they are being picked from. Application force to the gripper would not be as big of a concern so the curve could be metal in this instance. The customization from these due to the variable innards is one of the strongest points, but the fact that the curve can be placed upside down to achieve a flat non stable surface helps as well. You could make the test object (curve) through 3D printing, machining, and injection molding. You would need various methods depending on the material you wanted to make the curve from.