Gripper with Larger Flat Ends

prusaprinters

This is my remix of the excellent Mantis Gripper. My goal was to automate the tedious task of testing cash dispensers at work by using scrap and off the shelf parts. Video here: https://youtu.be/ED8kZkMuPWg. I needed a larger flat gripping area than the original Gripper, so I modified both the large and small grippers. I used everything else from the original Mantis. I added screw-on sensor brackets to the ends of the two grippers to house an infrared emitter/sensor combo. A stand was designed so I could attach the gripper to a motorized slide base. There are various motor mounts, sensor mounts, belt grips and the like that I designed. You can them use as-is or customize them using the 123D design files in the ZIP file.The gripper itself is controlled by an Arduino and the moving slide it's mounted on is run by an Adafruit Motor Shield. The function of the assembly is to sense when bills are presented into the open gripper. It closes the gripper, moves the gripper rearward on a track and then opens the gripper to drop the bills into a bin below. A running bill counter is incremented, and It then moves forward till it hits the limit switch to wait for more bills. Over and over again. This takes the place of a tech having to sit and do this for 30 minutes at a time.EDIT 6/2/17 The first grabber was so well received that the techs commissioned another one. I printed it entirely in "Watermelon" PETG from MakerGeeks. See pic #5.The rubber is holding up well; no sign of wear at all and we're using it daily.EDIT 4/20/18 Both grippers have been in daily use for almost a year now with zero problems. The Mantis Gripper is a well designed beast!.EDIT 11/2019 After 2 1/2 years, the rubber on the first grabber is wearing thin and I'll have to replace it. Also, one of the Hitec HS-645MG servos locked up after 2 years and was replaced. Not bad for a device that is used 5 days a week.EDIT 5/15/2022 Both grippers are still in service at the office, even though I'm retired now. A great testament of the functionality of the original design of the Mantis Gripper by Andreas Hölldorfer.Print SettingsPrinter Brand:PrintrbotPrinter: Printrbot PlusRafts:NoSupports: NoResolution:.2064Infill: 100%Notes:I printed all components with PETG for its durability and overall ease of printing.Post-PrintingI knew that the screws in the pulley stand needed to be adjusted occasionally to tension the drive belt, so I used brass screw inserts. Grainger.com # 4ZU26 7mm insert. I pushed them into the holes of the stand using a soldering iron. Worked perfectly.How I Designed ThisI used Autodesk's 123D Design to modify the original gripper files and to design the other odds and ends required.   Category: Robotics