GrabCAD 模型信息
Gripper Soft · 模型 274965
Low-cost, 2-finger parallel 3D printed gripper with compliant Fin Ray fingertips, force resistive sensors on each finger and an IR sensor for detecting objects in front of it. Custom gripper design for the RoboCup@Home competition, made by Alejandro, Daniel, Ian, Rodrigo, Luis and Marcela of the RoBorregos Team. The gripper’s two fingers open up to 105 mm. Each fingertip is a compliant Fin Ray-type structure, based on the fingers of the UMI gripper. It is designed to deform even under small forces and always bends in the intended direction, wrapping around the object to increase the contact area. Each finger has a front surface measuring 56 mm in width, 78 mm in length, and 3.5 mm in thickness. Between the fingers and the electronics connection, there is a vertical space measuring 29 mm in height, 155 mm in length, and 62 mm in width. This section of the gripper serves as a space for the rack-and-pinion mechanism, as well as three open channels that allow the sensors, servo motor, and potentiometer to connect to the fingers from the electronics box. The linear motion of the fingers is guided by two aluminum rods, each 160 mm in length and 8 mm in diameter. The rods are supported by four bearings with an inner diameter of 8 mm. The electronics box located below the fingers provides an internal space of 70 mm in width, 50 mm in height, and 155 mm in length. It contains the PCB, the ESP32, and the voltage regulator. One of its walls is designed with four 3.2 mm mounting holes to allow easier and faster access to the internal components. The opposite wall is designed to serve as the ZED 2 camera support, which can be detached and easily replaced to use with any other camera.
- 格式
- SOLIDWORKS、Rendering
- 分类
- Robotics、Tech
- 标签
- 未标注
- 数据更新
- 2026-11-06T09:16:54Z