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Title

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1		-SES - Mini Gripper
	1	+Mini Gripper

Author

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1		-xwiki:XWiki.CBenson
	1	+xwiki:XWiki.ENantel

Content

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1		-[[image:SES-MG-KT.PNG||queryString="width=350" width="350"]]
	1	+{{lightbox image="https://www.robotshop.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v2-robots/ses-v2-arms/ses-mini-gripper/WebHome/SES-MG-KT.PNG" width="400"/}}
2	2
3		-[[image:lynxmotion-wiki-attachments.WebHome@ComingSoon.jpg||alt="BuyOnline.jpg"]]
	3	+[[[[image:lynxmotion-wiki-attachments.WebHome@BuyOnline.jpg]]>>https://www.robotshop.com/en/lynxmotion-ses-mini-parallel-gripper-kit.html||rel="noopener noreferrer" target="_blank"]]
4	4
5	5	**Table of Contents**
6	6
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10	10
11	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	12
13		-__IMPORTANT NOTE__: When grasping an object, or opening the gripper fully, be sure that the position sent to the servo can be reached; if the servo is blocked either by the object being grasped, or by the mechanics of the gripper, it will reach "stall" conditions and draw high current trying to reach the position. The servo will heat up rapidly and burn. When grasping an object, the servo position sent should only be slightly less than the object.
	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	14
15	15	= Features =
16	16
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21	21
22	22	= Specifications =
23	23
	24	+**Gripper Specifications**
	25	+
24	24	* Maximum opening: 40mm / 1.57”
25	25	* Weight (with servo): 31.5g / 0.069lbs
26	26	* Total Length: 78mm
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28	28	* Material: Black acrylic
29	29	* Hardware: 2-56 thread
30	30
	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	+
31	31	= Assembly Guide =
32	32
33	33	* [[doc:.ses-mini-gripper-assembly.WebHome]]
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38	38	(% style="max-width:750px" %)
39	39	|(% colspan="6" %)**[[doc:servo-erector-set-system.ses-servos.ses-lynxmotion-rc-servo.WebHome]]**
40	40	|1x - LRC-MA1| | | | |
41		-|Mini Servo| | | | |
	60	+|Micro Servo| | | | |
42	42	|[[image:servo-erector-set-system.ses-servos.ses-lynxmotion-rc-servo.WebHome@LRC-MA1.png||alt="LSS-ST1.png"]]| | | | |
43	43	|(% colspan="6" %)**[[SES - Mechanics>>doc:servo-erector-set-system.ses-mechanics.WebHome]]**
44		-|1x - PHS-09|2x - PHS-05|2x - PHS-22|2x - PHS-21|5x - SLN-04|
	63	+|1x - PHS-09|4x - PHS-05|2x - PHS-22|2x - PHS-21|7x - SLN-04|
45	45	|2-56 x 3/8"|2-56 x 1/2"|2-56 x 5/8"|2-56 x 3/4"|2-56 Lock Nut|
46	46	|[[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]]|
47	47	|(% colspan="6" style="width:125px" %)**[[doc:.ses-mini-gripper-parts.WebHome]]**