GrabCAD 模型信息
Robotic Gripper · 模型 158970
Low-cost, 2-finger parallel 3D printed gripper with 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 and Marcela of the RoBorregos Team The gripper's two fingers open up to 105 mm (excluding the material of choice for grasping the objects). Each finger has a front surface measuring 56 mm in width, 78 mm in length, and 3.5 mm in thickness. For our design, the gripper holds silicon blocks of 60 mm in width and 80 mm in lenght on each finger, with a superficial grasp design for a better grip. 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 5 mm in diameter. The rods are supported by four bearings with an outer diameter of 10 mm and an inner diameter of 5 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 of the wall is designed to serve as the ZED 2 camera support, which can be dettached and easily be replaced to use with any other camera.
- 格式
- SOLIDWORKS、Rendering
- 分类
- Robotics
- 标签
- servo、silicone、figertips、robocup、home、rack and pinion、service robots、soft、fingers、gripper、robotics
- 数据更新
- 2026-10-21T18:04:35Z
