瓦尔格里珀 - 希腊罗봇手臂的夹爪

VarGripper - gripper for the herculito robot arm

2024-01-10 00:50:44

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Summary

This is a gripper for the herculito robot arm. It can turn -90 .. +90 degrees and grip. It is driven by2 MG90S micro servos.

Print Settings

Printer brand:
Prusa
Printer:
i3 MK3 MMU 2
Rafts:
No
Supports:
No
Resolution:
0.20mm
Infill:
20%
Filament brand:
generic
Filament color:
Gray
Filament material:
PETG

Custom Section

BOM

BOM 3D-printed parts

1x cableStab
2x finger
1x gripbase
1x gripconn
1x gripHolder-herculito
1x griphouse
2x servoarm
2x slider
1x turnbase
1x turnhouse

BOM screws, nuts and rods

8x ISO7380-1 M2x6 screws (AliExpress)
4x ISO7380-1 M2x10 screws (AliExpress)
12x ISO4033 M2 nuts
9x ISO4762 M2.5x6 screws
2x ISO4762 M2.5x12 screws
3x ISO4762 M3x10 screws
3x ISO4033 M3 nuts
8x ISO4762 M3x8 screws
4x ISO4762 M4x12 screws
2x Aluminium rod 4mm with 112 mm length (hardware store)
50mm brass copper wire 1mm diameter (AliExpress)

It should be easy to get these screws, nuts and washers from a local dealer. Otherwise you can try schraubenkasten.de.

BOM Misc

2 rubber pads (eBay)

Tools used

3.0x75 - M4 screws
2.0 - M2.5 screws
1.3 - M2 screws
nut driver
masking tape

Assemble the gripper

3D parts used:

1x turnbase

Fix a MG90S servo to the turnbase part using 2 ISO7380-1 M2x10 screws and 2 ISO4033 M2 nuts.

Add some soft material to reduce mechanical vibrations.

3D parts used:

1x gripHolder-herculito
1x griphouse

Fix the gripHolder-herculito part to the griphouse part using 3 ISO4762 M3x10 screws and 3 ISO4033 M3 nuts.

3D parts used:

1x griphouse

Glue a long MG90S horn into the griphouse part using two-component adhesive.

3D parts used:

1x gripbase

Fix a MG90S servo to the gripbase part using 2 ISO7380-1 M2x10 screws and 2 ISO4033 M2 nuts. Insert the 2 aluminium 4mm rods into the gripbase.

3D parts used:

2x slider

Insert the 2 slider parts into the rods as shown in the picture.

3D parts used:

2x servoarm

Fix a long MG90S servo horn on the servo using the provided screw. Connect the 2 servoarm parts with the horn and the 2 sliders using the brass copper wire as shown in the following pictures. Please note that the slider part has a hole that allows you to insert the wire easily into its destination. Bend the wires in a way that they stay in the holes.

3D parts used:

2x finger

Align the finger parts using a hot-air gun, if needed. Add rubber pads as shown in the picture.

Now we will fix the 2 finger parts to the slider parts using 8 ISO7380-1 M2x6 screws and 8 ISO4033 M2 nuts. Use masking tape to keep the finger parts and nuts in place. Insert the screws using a screw driver from the other side.

Turn the servo a bit to better access some of the holes.