Gripper design

thingiverse

In 2008, I experimented with robotic gripper designs using RC servos. Due to popular demand for blueprints, I created a model based on Vice Grips' 4-bar linkage in OpenSCAD. The design was developed through trial and error rather than CAD and planning. The gripper features parts A (120mm with a 30-degree bend to 65mm), B (100mm with a 45-degree bend to 75mm), C (85mm controlling up/down movement), and D (50mm mounting the micro servo for opening and closing). Part D has a hole 30mm from the center of the microservo horn, while #6 screws with washers connect parts. Part A connects to part B at 10mm and 35mm distances, respectively, and part C joins part B 10mm from the opposite end of the micro servo and 65mm from part B's end. Part E is perpendicular to part C for standard servo raising and lowering. You can watch the YouTube video for more information: http://www.youtube.com/watch?v=-9pwPNnW5tM