Robot Parallel Gripper with servo

grabcad

This robotic gripper is one of many published designs. My design specs were clear: use a full metal geared servo, feature pivot points as blank shafts (DIN 7 h7 quality), achieve a gear ratio of 2, and attach it to my 6 Axis robot arm. The gripper should also be capable of receiving a force sensor (a planned upgrade). You can see that the gears and parallel arms create a gap between the side parts' interior. I fill this gap with IGUS TRIBO-TAPE during assembly, using 0.5 mm thickness material. Most designs you see involve rubbing plastic against plastic, which isn't ideal. To customize the gripper arm, I've included a step file for your use. To understand the design better, I added a 3D PDF file that allows you to manipulate the assembly and parts. Simply open the file in Acrobat Reader, double-click on the picture, and accept the 3D manipulation view. You can then switch on and off the parts using the parts tree. Additionally, I've included a PDF with an exploded view as well as a parts list for your reference.