Compliant Robot Gripper

thingiverse

This is a modified version of Chiprobots original gripper designed specifically for a 30mm diameter glue stick, a size commonly used in New Zealand. To fit this larger size, I reduced the part count and redesigned the components to better suit 3D printing capabilities. The servo flange was tailored to accommodate a cheap SG90 plastic gear servo, making it an affordable option. Meanwhile, the appendage is a scaled-up version of Chiprobots original, increased by 15% to ensure compatibility with common 0.4mm nozzles. To assemble this gripper, attach the upper bracket to where the cap usually goes - for me, it fit snugly without needing glue. Wind the glue stick all the way out and clean up the drive nut before gluing it to the base of the plunger. Cut off the bottom piece of the glue stick with a sharp knife and insert the Servo Horn Adapter into the base along with the splined socket from one of the servo horns. To test this gripper or integrate it with your robot, I've included a simple Arduino sketch that allows you to send characters 0-9 over USB serial.