Tim's Customised Parametric Robot Claw

thingiverse

Customized version of http://www.thingiverse.com/thing:27468 Created with Customizer! http://www.thingiverse.com/apps/customizer/run?thing_id=27468 Instructions Using the following options: Gear Pitch equals 400. Screw play is set to 0.1. Grip Plate height is adjusted to 18 units. Target side length is fixed at 50 units. Arm thickness is maintained at a constant 5 units. Hand length is carefully measured at 30 units. The Grip position on the right arm is calculated as [(arm_length*sin(Rot/2)),-grip_offset+(arm_length*(1-cos(Rot/2))),-arm_thickness-0.3]. The Grip position on the left arm is determined by [(arm_length*sin(Rot/2)),grip_offset-(arm_length*(1-cos(Rot/2))),-arm_thickness-0.3]. Plate thickness is set at 3 units. Number of Gear Teeth equals 10. Cover plate visibility is hidden with a value of 1. Screw size is precisely measured at 3 units. The rotation angle, Rot, is currently set to 0 degrees. Gear positions are calculated as follows: Small gear right position: [0,-(Small_Gear_rad+Gear_Play/2),0] Small gear right position (second point): [0,-(Small_Gear_rad+Gear_Play/2),3] Small gear left position: [0,(Small_Gear_rad+Gear_Play/2),0] Small gear left position (first point): [0,(Small_Gear_rad+Gear_Play/2),0] Large gear left position: [0,Arm_Gear_Pos,0] Large gear right position: [0,-Arm_Gear_Pos,0] Show target visibility is set to 1. Free Arm Stay positions are calculated as follows: Left arm stay position: [(freeArmStay_Offset*cos(30)),grip_offset-((freeArmStay_Offset*sin(30)))-arm_length,0] Right arm stay position: [(freeArmStay_Offset*cos(30)),-grip_offset+((freeArmStay_Offset*sin(30)))+arm_length,0] Arm width is carefully maintained at 8 units. Number of Gear Stages equals 0.