The thumb swivel point has been altered in order to increase the degrees of rotation of the thumb. With this alteration, a new and necessary axis of rotation is added to the overall gripper that enables the gripper to do more intricate actions such as pinching.
The second version with more linear thumb swivel point, extending the range of motion and the gripper's abilities
Thumb piece rotated for pinching motion
As the project takes its final shape, the 3D design file will be uploaded with the improvements.