This is an old project of mine that I am trying to document and in some ways resurrect. I build this end effector for a robotics competition back in undergrad. The purpose of the device was to be able to manipulate two nobs at the same time. I made this possible by designing and 3D printing two self-centering chucks. Additionally, I utilize a transmission system to allow a single drive motor to both turn the chuck and to engage/disengage the chuck jaws. I will upload the CAD models to this page once I find them and provide some more documentation on how everything works.