Design a standard gripper that would have the following specifications: overall gripper diameter equal to or less than 3 inches; overall gripper length equal to or less than 6 inches; and the ability to grip a one-quarter-inch thick, 9 inch diameter, solid aluminum part by using a 1.5-inch diameter hole in the center of the part and 20 psi shop air. The documentation should include all design assumptions, required normal force when fingers are fabricated from aluminum and for aluminum fingers covered with rubber, drawings of gripper parts with full dimensions, and calculations to verify compliance with the specifications.
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