A-Pod 3DoF Mandibles Assembly Instructions

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<h1>The A-POD Gripper Assembly Guide</h1>

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<p><b>Updated November 17, 2011</b></p>

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<h2>Removing the Parts from the Panel</h2>

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<p>The PVC parts need to be carefully cut out of the panel. A thin, flat blade exacto knife will be very helpful. Simply cut through the tabs to remove the parts.</p>

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<h2>Important!</h2>

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<p><span class="warning">DO NOT overtighten screws on the PVC parts!</span> The PVC will compress and will become weaker as a result.</p>

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<h2>Preparation</h2>

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<p>Remove the nylon servo horn from each servo and replace with a metal servo horn. Be sure to keep it in the same orientation.</p>

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<div class="asm-step-name">A-POD Gripper — Assembly</div>

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<p>Attach a ball bearing to two Multi-purpose brackets as shown. See the diagram below for detailed information. Make one of each.</p>

<div class="asm-part-name">Ball bearing assembly diagram</div>

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<span>Figure 1-2.</span>

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<div class="asm-step-name">A-POD Gripper — Assembly</div>

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<p>Attach the two brackets together as shown using two 2-56 x .25" screws and two 2-56 nuts.</p>

<div class="asm-part-name">2-56 x .250" Phillips screw</div>

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<span>Figure 2.</span>

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<div class="asm-step-name">A-POD Gripper — Assembly</div>

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<p>Attach a "C" bracket to the top panel with four 2-56 x .375" screws and 2-56 nuts.</p>

<div class="asm-part-name">2-56 x .375" Phillips screw</div>

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<span>Figure 3.</span>

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<div class="asm-step-name">A-POD Gripper — Assembly</div>

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<p>Slide the "C" bracket over the ball bearing.</p>

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<span>Figure 4.</span>

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<div class="asm-step-name">A-POD Gripper — Assembly</div>

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<p>Slide a HS-645 servo into the bracket and secure it using 3mm hardware as shown. Attach it to the "C" bracket with four 2-56 x .25" screws.</p>

<div class="asm-part-name">3mm servo hardware set</div>

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<div class="asm-part-name">2-56 x .250" Phillips screw</div>

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<span>Figure 5.</span>

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<div class="asm-step-name">A-POD Gripper — Assembly</div>

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<p>Attach two pincer panels to a servo as shown. Set this aside for now.</p>

<div class="asm-part-name">Pincer attachment diagram</div>

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<span>Figure 6-2.</span>

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<div class="asm-step-name">A-POD Gripper — Assembly</div>

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<p>Slide the plastic spacer into place as shown. Tighten it down between a washer and nut if you have trouble simply pushing it in. Remove the screw when the insert has been installed. You will be adding the force sensing resistor to this servo.</p>

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<span>Figure 7.</span>

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<div class="asm-step-name">A-POD Gripper — Force Sensor Wiring</div>

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<p>Strip off one end of the 24" servo extender cable and solder as shown. Use heatshrink to cover the bare wire.</p>

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<span>Figure 8.</span>

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<div class="asm-step-name">A-POD Gripper — Force Sensor Wiring</div>

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<p>The sensor leads can be fragile when bent often or excessively. Use the included piece of heatshrink to help protect the lower portion of the sensor.</p>

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<span>Figure 9.</span>

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<div class="asm-step-name">A-POD Gripper — Force Sensor Installation</div>

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<p>Use an exacto knife to carefully peel away the <b>clear plastic</b> piece covering the black adhesive. <span class="warning">Be very careful — if not done carefully the sensor can be damaged!</span></p>

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<span>Figure 10.</span>

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<div class="asm-step-name">A-POD Gripper — Force Sensor Installation</div>

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<p>Attach the sensor to the servo as shown.</p>

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<span>Figure 11.</span>

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<div class="asm-step-name">A-POD Gripper — Force Sensor Installation</div>

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<p>Apply a layer of electrical tape over the sensor to help hold it down.</p>

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<span>Figure 12.</span>

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<div class="asm-step-name">A-POD Gripper — Force Sensor Installation</div>

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<p>Place four more thin strips of electrical tape onto the sensor. This will fill the gap between the sensor and the inside of the servo slot and make the sensor trigger more reliably.</p>

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<span>Figure 13.</span>

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<div class="asm-step-name">A-POD Gripper — Assembly</div>

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<p>Attach two pincer panels to the servo with the sensor as shown. <span class="warning">Do not tighten these down fully.</span> In order for the pressure sensor to function properly, the servo needs to be loose enough to shift slightly.</p>

<div class="asm-part-name">Pincer attachment diagram</div>

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<span>Figure 14-2.</span>

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<div class="asm-step-name">A-POD Gripper — Assembly</div>

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<p>Make sure the pincer panels are aligned, then reinforce them using two 4-40 x .625" hex screws and nuts each.</p>

<div class="asm-part-name">4-40 x .625" hex socket screw</div>

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<span>Figure 15.</span>

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<div class="asm-step-name">A-POD Gripper — Assembly</div>

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<p>Attach the pincers to the top panel with four 2-56 x .375" screws each.</p>

<div class="asm-part-name">2-56 x .375" Phillips screw</div>

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<span>Figure 16.</span>

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<div class="asm-step-name">A-POD Gripper — Assembly</div>

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<p>Attach a HS-645MG to the robot using 3mm screws, washers and nuts.</p>

<div class="asm-part-name">3mm servo hardware set</div>

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<span>Figure 17.</span>

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<div class="asm-step-name">A-POD Gripper — Attach to Chassis</div>

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<p>Attach a "C" bracket to the 1" spacer in the front of the chassis using four 2-56 x .250" screws.</p>

<div class="asm-part-name">2-56 x .250" Phillips screw</div>

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<span>Figure 18.</span>

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<div class="asm-step-name">A-POD Gripper — Attach to Chassis</div>

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<p>Slide the gripper assembly into place in the "C" bracket on the front of the chassis. Connect the servo horn to the "C" bracket using four 2-56 x .250" screws.</p>

<div class="asm-part-name">2-56 x .250" Phillips screw</div>

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<span>Figure 19.</span>

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<div class="asm-step-name">A-POD Gripper — Assembly Complete!</div>

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<p>Clean the pincers using a cloth with isopropyl alcohol. Attach two pieces of weather stripping to the insides of the mandibles as shown. If the surface has not been cleaned, the strips will not stick to the material.</p>

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<span>Figure 20.</span>

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