Improved gripper

cults3d

This is an upgrade for 6DOF robot arm gripper:https://github.com/RoboLabHub/RobotArm_v1.0/tree/master/STL/Gripperhttps://cults3d.com/en/3d-model/gadget/gripper-for-6dof-robot-arm I found two problems with my original gripper design: 1) In case of full power the servo can easily smash the joint between servo and gripper. 2) The grippers internal joints are not solid enough for precise movement. The LX16A servo torque (17 kg·cm) is too high for the original gripper, so in new design I tried to fix it and realize the full power of high torque servo. To make internal joints more solid I replaced the construction how the joint's bearing are fixed. To minimize the overall construction dimension (and preserve overall kinematics) I replaced the 623ZZ (3x10x4mm) bearings in gripper joints with smaller one 693ZZ (3x8x4mm). The bearings assembling a little bit tricky, so check the photos to get an idea. Now the gripper became super power and solid enough (joints idle movements minimized). The servo joints in gripper uses Phillips self tapping screws 15x M1.7x8mm, the gripper joints uses 7x bolts M3x20mm. An overview of old gripper to get an idea about gripper kinematics:https://github.com/RoboLabHub/RobotArm_v1.0/blob/master/STL/Gripper/GRIPPER_OVERVIEW.stl