Wiki source code of Mini Gripper RC
Last modified by Eric Nantel on 2023/07/26 08:42
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| 1 | [[image:SES-MG-KT.PNG||width="350"]] |
| 2 | |
| 3 | [[[[image:[email protected]]]>>https://www.robotshop.com/en/lynxmotion-ses-mini-parallel-gripper-kit.html||rel="noopener noreferrer" target="_blank"]] |
| 4 | |
| 5 | **Table of Contents** |
| 6 | |
| 7 | {{toc/}} |
| 8 | |
| 9 | = Description = |
| 10 | |
| 11 | The **Lynxmotion SES Mini Parallel Gripper Kit** includes a micro (9g) metal gear RC servo and is intended to be low cost, lightweight and versatile. The gripper provides predictable parallel motion and a respectable 40mm maximum opening to grasp a variety of different items. The SES V2 mounting pattern allows it to be connected to almost any Lynxmotion SES part, and the holes can be used to mount the gripper to other custom robotic applications. |
| 12 | |
| 13 | __IMPORTANT NOTE__: When grasping an object, or opening the gripper fully, be sure that the servo can in fact reach the commanded position; if the servo is blocked / stopped either by the object being grasped before it can reach the position, or blocked by the mechanics of the gripper, it will reach "stall" conditions and draw high current trying to reach the commanded position, causing the servo to heat up rapidly and burn. Therefore when grasping an object, the servo position sent should only be slightly less than the object, to allow the foam to compress only slightly. If the object still falls, added friction may be needed between the foam and the object. |
| 14 | |
| 15 | = Features = |
| 16 | |
| 17 | * Gripper type: parallel |
| 18 | * Servo: Lynxmotion 9g micro metal gear servo |
| 19 | * Mounting: Lynxmotion SES / SES V2 |
| 20 | * Foam around gripper tips |
| 21 | |
| 22 | = Specifications = |
| 23 | |
| 24 | **Gripper Specifications** |
| 25 | |
| 26 | * Maximum opening: 40mm / 1.57” |
| 27 | * Weight (with servo): 31.5g / 0.069lbs |
| 28 | * Total Length: 78mm |
| 29 | * Total Height: 36mm |
| 30 | * Material: Black acrylic |
| 31 | * Hardware: 2-56 thread |
| 32 | |
| 33 | **Servo Specifications** |
| 34 | |
| 35 | * Dimensions: 23.2 × 12.5 × 22 mm |
| 36 | * Weight: 14 g |
| 37 | * Operating Speed: 0.12s / 0.10s per 60 degrees (4.8V/6.0V) |
| 38 | * Stall Torque: 1.5Kg-cm / 1.8 Kg-cm (4.8V / 6.0V) stall torque |
| 39 | * Operating Voltage (Vin): 4.8V ~~ 6V |
| 40 | * Operating Angle: 120 degrees |
| 41 | * PWM Signal: 900us-2100us Analog |
| 42 | * Bearing Type: None |
| 43 | * Gear Type: Metal |
| 44 | * Motor Type: DC Brushed |
| 45 | * Case: Black Thermoplastic |
| 46 | * Wire Length: ~~18 cm (including connector) |
| 47 | * Connector: Yellow (signal) / Red (Vin) / Black (GND) 2.54mm (0.1”) pitch |
| 48 | * Spline: 20 tooth custom |
| 49 | |
| 50 | = Assembly Guide = |
| 51 | |
| 52 | * [[doc:ses-v2-arms.ses-v2-mini-gripper-rc.ses-mini-gripper-assembly.WebHome]] |
| 53 | * [[doc:ses-v2-arms.ses-v2-mini-gripper-rc.ses-mini-gripper-parts.WebHome]] |
| 54 | |
| 55 | = What's included = |
| 56 | |
| 57 | (% style="max-width:750px" %) |
| 58 | |(% colspan="6" %)**[[doc:servo-erector-set-system.ses-servos.ses-lynxmotion-rc-servo.WebHome]]** |
| 59 | |1x - LRC-MA1| | | | | |
| 60 | |Micro Servo| | | | | |
| 61 | |[[image:servo-erector-set-system.ses-servos.ses-lynxmotion-rc-servo.WebHome@LRC-MA1.png||alt="LSS-ST1.png"]]| | | | | |
| 62 | |(% colspan="6" %)**[[SES - Mechanics>>doc:servo-erector-set-system.ses-mechanics.WebHome]]** |
| 63 | |1x - PHS-09|4x - PHS-05|2x - PHS-22|2x - PHS-21|7x - SLN-04| |
| 64 | |2-56 x 3/8"|2-56 x 1/2"|2-56 x 5/8"|2-56 x 3/4"|2-56 Lock Nut| |
| 65 | |[[image:servo-erector-set-system.ses-mechanics.ses-screws.WebHome@PHS-09.PNG]]|[[image:servo-erector-set-system.ses-mechanics.ses-screws.WebHome@PHS-05.png]]|[[image:servo-erector-set-system.ses-mechanics.ses-screws.WebHome@PHS-22.PNG]]|[[image:servo-erector-set-system.ses-mechanics.ses-screws.WebHome@PHS-21.PNG]]|[[image:servo-erector-set-system.ses-mechanics.ses-nuts.WebHome@SLN-04.png]]| |
| 66 | |(% colspan="6" style="width:125px" %)**[[doc:ses-v2-arms.ses-v2-mini-gripper-rc.ses-mini-gripper-parts.WebHome]]** |
| 67 | |(% style="width:125px" %)1x - SES-MG|(% style="width:125px" %) |(% style="width:125px" %) |(% style="width:125px" %) |(% style="width:125px" %) |(% style="width:125px" %) |
| 68 | |(% style="width:125px" %)Acrylic Parts|(% style="width:125px" %) |(% style="width:125px" %) |(% style="width:125px" %) |(% style="width:125px" %) |(% style="width:125px" %) |
| 69 | |[[image:ses-v2-arms.ses-v2-mini-gripper-rc.ses-mini-gripper-parts.WebHome@SES-MG.PNG]]| | | | | |
| 70 | |
| 71 | = Dimensions = |
| 72 | |
| 73 | {{lightbox image="SES-MG-KT-Dimensions.png" width="700"/}} |