Dynamixel Parallel Gripper
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Parallel Rack-and-Pinion gripper using a singular Dynamixel XM430-W210-T gripper for easy pick-and-place operations.
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- Printables
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- RC & Robotics
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- Creative Commons — Attribution — Share Alike
I created a Parallel Rack-and-Pinion gripper using a singular Dynamixel XM430-W210-T gripper for easy pick-and-place operations. Upon request, I will be happy to provide editable models for the enclosure.
Item | Filament | Supports | Brims |
|---|---|---|---|
GripSense v2 Enclosure v3 | PLA | Yes | Yes |
GripSense v2 Fingers | PLA, TPU, PETG, ABS | Yes | Yes |
GripSense v2 Gear v2 | PETG | No | No |
I printed the fingers with the rail side flat on the bed, and the fingers cantilevered with supports enabled. The point was to create parallel lines along the drafted rail extrude, which would slide really well inside the cutout in the enclosure.
The gear screws onto the driving horn of the XM430 servo using 4 M2 screws provided from a Turtlebot3 Burger but I'm sure a quick exploration of the robotis website can give you the necessary info for the screws needed. They have the dimensions for the horn needed on any X-series gear's documentation.
I mounted this on my VT6-A901S mount that can be found here using M5x8 screws:
The fingers have relief cuts in them designed to snap off at forces greater than 3kg. Take extreme caution and ensure you've added a good current limit. My choice was 120 units on an XM430-W210-T actuator.
Check out my Master's Dissertation Progress Logs here: https://mrrox1337.github.io/gripsense-website/
And the Master's Dissertation project repository here: https://github.com/MrRox1337/GripSense/