Mad Mare Studio's Medium-Duty Robot Gripper

thingiverse

My Xdroid Medium-Duty Robotic Gripper, designed for applications requiring gripping/holding/lifting, is now available. Designed to support both Standard and HiTec Waterproof servos, this gripper features touch sensitivity with a unique hand/paddle model combo that accommodates an Adafruit Industries 1.5" x 1.5" Force Sensitive Resistor. The paddle design ensures force is sensed regardless of grip location on the object. This model requires two Standard servos, and for optimal performance, a high-torque metal gear servo is recommended. Servo City offers a suitable waterproof option (http://www.servocity.com/html/hs-5646wp_servo.html), along with a compatible servo plate. Print the models in the specified orientation for best results, and use ABS plastic on a MakerBot Replicator 1-dual printer with a heated platform set to 115C. To make a complete gripper, print the following components: DroidGripper-BackPlate, DroidGripper-SupportPlate, DroidGripper-GearPlate, DroidGripper-TopPlate, DroidGripper-ServoPlate, DroidGripper-LeftArm, DroidGripper-RightArm, DroidGripper-LeftDriveGear, DroidGripper-RightDriveGear, and six DroidGripper-InterfaceLinks. An Arduino Mega 2560 with an Adafruit 16-Channel Servo Driver (http://www.adafruit.com/products/815) controls the gripper and sensors. Additional sensors will be added in future releases. For easy removal of printed components, let them cool on the build platform until it reaches 60C, then re-heat to over 100C for a hassle-free release. Assembling the gripper requires specific hardware: nine 1/4" aluminum spacers, eight 1 1/4" screws, four 2" screws, eight 5/8" screws, and fifteen #6-32 nuts. The total cost should be around $20-$25. A video diagram detailing assembly will be provided soon. Enjoy printing and using the Medium-Duty Robot Gripper! Feedback is welcome.