Gripper Assembly Instructions

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<h1 class="asm">Gripper Assembly Instructions</h1>

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<p><b>Updated March 1, 2010</b></p>

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<p><span class="asm-warning">Safety first!</span> Wear eye protection and never touch a powered robot!</p>

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<p>Do not use Loctite or thread locks. They are not necessary and may damage the PVC. PVC parts have a definite good and bad side — keep the good sides facing outward.</p>

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<p>The PVC panels are laser cut and need to be cleaned before use. Using a damp paper towel, clean top and bottom while still attached to the panel, then cut each part from the panel and clean the edges.</p>

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<p style="font-size:12px; color:#666; margin-top:0.3rem;"><b>Complete gripper.</b></p>

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<div class="asm-step-name">Gripper — Removing Parts from Panel</div>

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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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<span>Parts in the kit.</span>

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<div class="asm-step-name">Gripper — Important PVC Warning</div>

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

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<span>Example image.</span>

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<div class="asm-step-name">Gripper — Glue Base Parts</div>

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<p>Connect the round part and the gripper baseplate together using superglue.</p>

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<span>Figure 1.</span>

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<div class="asm-step-name">Gripper — Attach to Wrist</div>

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<p>Attach this assembly directly to the wrist rotate servo horn using two #4 x 3/8" tapping screws. If you are not using a wrist rotate assembly, connect directly to the "C" bracket using two 2-56 x .375" machine screws and nuts.</p>

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<div class="asm-part-info"><div class="asm-part-qty">2x (wrist rotate)</div><div class="asm-part-name">#4 x .375" tapping screw</div></div>

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<div class="asm-part-info"><div class="asm-part-qty">—</div><div class="asm-part-name">Hole position reference</div></div>

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<div class="asm-part-info"><div class="asm-part-qty">2x ("C" bracket)</div><div class="asm-part-name">2-56 x .375" Phillips screw</div></div>

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<div class="asm-part-info"><div class="asm-part-qty">2x ("C" bracket)</div><div class="asm-part-name">2-56 nut</div></div>

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<span>Figure 2.</span>

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<div class="asm-step-name">Gripper — Heavy Duty Wrist Rotate (Optional)</div>

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<p>If you are using a heavy duty wrist rotate, use two 2-56 x .5" screws instead. Note: washers as spacers are not needed when attaching the new gripper.</p>

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<div class="asm-part-info"><div class="asm-part-qty">2x</div><div class="asm-part-name">2-56 x .500" Phillips screw</div></div>

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<span>Figure 3.</span>

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<div class="asm-step-name">Gripper — Construct Fingers</div>

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<p>Using two 4-40 x 1" hex head screws, construct the two fingers for the gripper as shown. Secure with a nylon insert lock nut. <span class="asm-warning">DO NOT overtighten — the PVC WILL be damaged.</span></p>

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<div class="asm-part-info"><div class="asm-part-qty">2x</div><div class="asm-part-name">4-40 x 1.000" hex socket screw</div></div>

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<div class="asm-part-info"><div class="asm-part-qty">2x</div><div class="asm-part-name">4-40 nylon insert lock nut</div></div>

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<span>Figure 4.</span>

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<div class="asm-step-name">Gripper — Attach Fingers to Base</div>

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<p>Attach the gripper fingers to the gripper base using two 4-40 x 1" hex head screws and nylon insert lock nuts.</p>

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<div class="asm-part-info"><div class="asm-part-qty">2x</div><div class="asm-part-name">4-40 x 1.000" hex socket screw</div></div>

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<div class="asm-part-info"><div class="asm-part-qty">2x</div><div class="asm-part-name">4-40 nylon insert lock nut</div></div>

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<span>Figure 5.</span>

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<div class="asm-step-name">Gripper — Mount Servo</div>

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<p>Attach the HS-225 servo to the gripper base with two 4-40 x .5" screws and .250" nuts.</p>

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<div class="asm-part-info"><div class="asm-part-qty">2x</div><div class="asm-part-name">4-40 x .500" hex socket screw</div></div>

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<div class="asm-part-info"><div class="asm-part-qty">2x</div><div class="asm-part-name">4-40 steel nut</div></div>

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<span>Figure 6.</span>

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<div class="asm-step-name">Gripper — Passive Crossmember Screw</div>

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<p>Attach a 4-40 x 1" screw to the gripper base as shown with a nylon insert lock nut.</p>

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<div class="asm-part-info"><div class="asm-part-qty">1x</div><div class="asm-part-name">4-40 x 1.000" hex socket screw</div></div>

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<div class="asm-part-info"><div class="asm-part-qty">1x</div><div class="asm-part-name">4-40 nylon insert lock nut</div></div>

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<span>Figure 7.</span>

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<div class="asm-step-name">Gripper — Slide on Crossmember Spacer</div>

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<p>Slide the passive crossmember spacer over the screw and lock nut.</p>

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<span>Figure 8.</span>

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<div class="asm-step-name">Gripper — Attach Passive Gear</div>

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<p>Attach the smaller, passive gear part to the assembly as shown. Use a nylon insert lock nut.</p>

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<div class="asm-part-info"><div class="asm-part-qty">1x</div><div class="asm-part-name">4-40 nylon insert lock nut</div></div>

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<span>Figure 9.</span>

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<div class="asm-step-name">Gripper — Attach Passive Gear to Finger</div>

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<p>Attach the passive gear to the finger assembly using a 4-40 x 1" screw and lock nut as shown.</p>

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<div class="asm-part-info"><div class="asm-part-qty">1x</div><div class="asm-part-name">4-40 x 1.000" hex socket screw</div></div>

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<div class="asm-part-info"><div class="asm-part-qty">1x</div><div class="asm-part-name">4-40 nylon insert lock nut</div></div>

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<span>Figure 10.</span>

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<div class="asm-step-name">Gripper — Check Finger Movement</div>

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<p>Make sure each finger moves freely. They should be tight enough that they do not move out of line, but loose enough to move without resistance.</p>

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<span>Figure 11.</span>

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<div class="asm-step-name">Gripper — Prepare Driven Gear</div>

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<p>Insert the 4-40 x 1" hex head screw through the hole in the larger, driven gear piece as shown. Secure with a nylon insert lock nut.</p>

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<div class="asm-part-info"><div class="asm-part-qty">1x</div><div class="asm-part-name">4-40 x 1.000" hex socket screw</div></div>

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<div class="asm-part-info"><div class="asm-part-qty">1x</div><div class="asm-part-name">4-40 nylon insert lock nut</div></div>

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<span>Figure 12.</span>

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<div class="asm-step-name">Gripper — Attach Driven Gear & Servo Horn</div>

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<p>Attach this assembly to the gripper finger using a nylon insert lock nut, and to the servo horn using two #4 x 3/8" tapping screws.</p>

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<div class="asm-part-info"><div class="asm-part-qty">1x</div><div class="asm-part-name">4-40 nylon insert lock nut</div></div>

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<div class="asm-part-info"><div class="asm-part-qty">2x</div><div class="asm-part-name">#4 x .375" tapping screw</div></div>

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<div class="asm-part-info"><div class="asm-part-qty">—</div><div class="asm-part-name">Hole position reference</div></div>

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<span>Figure 13.</span>

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<div class="asm-step-name">Gripper — Apply Foam Rubber Strips</div>

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<p>Clean the inside of each finger using rubbing alcohol and a paper towel or rag. Apply the foam rubber strips to the inside of the gripper after the surface has dried.</p>

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<span>Figure 14.</span>

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<div class="asm-step-name">Gripper — Using the Gripper</div>

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<p>The operating principle is simple: command the servo to close the fingers until enough pressure is applied to hold an object. The servo is lightweight but very strong with a metal geartrain.</p>

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<p><span class="asm-warning">Care must be taken to prevent the servo from closing too tightly. Use just enough pressure — no more than needed. If full force is attempted, the servo will heat up and self destruct in a short time.</span></p>

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<span>Figure 15.</span>

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