Our rover's manipulator has to pick up a wide variety of objects, often things we couldn't fully specify in advance with annual competition rule changes. Previously, we'd used a rigid gripper, but found issues with slippage and overall driver QOL. 

I designed a fin-ray gripper printed in TPU. The compliant ribs act like columns and buckle in a controlled mannel, allowing each finger to conform around whatever it contacts. The main chassis was created out of printed ASA, with heat-set inserts for the TPU overlay. I also laminated the contact suface with rubber for slightly better traction as the printed TPU was initially quite greasy.

It went to competition on the rover, and worked pretty well for the missions we were able to compete in; was able to pick up our cylindrical microscope for our science mission, for example, which used to be much harder with a rigid plastic end effector.