Gripper Assembly

Add Heat-Set Inserts to Fixed Gripper

The fixed gripper needs 2 M4 heat-set inserts for mounting the gripper motor bracket.

fixed gripper CAD — CAD image of where heat-set inserts go

fixed gripper heat-set inserts — Fixed gripper with heat-set inserts

Mount Fixed Gripper on Hub J3

Use #6x0.5 screws to mount the fixed gripper on hub J3. Use thread locker on the screws.

fixed gripper mounted on hub cad — CAD image of fixed gripper on hub J3

Attach Gripper Motor Bracket to Fixed Gripper

Use 2 M4x8 screws to attach the gripper motor bracket to the fixed gripper. Apply thread locker to the screws.

gripper motor bracket CAD — CAD image of gripper motor bracket

Mount Gripper Motor to Bracket

Use 2 M2.5x8 screws. Apply threadlocker to the screws.

gripper motor CAD — CAD image of gripper motor

Attach Hub to Gripper Motor

Minimize the gap between the hub and the gripper motor bracket. Use threadlocker on the hub clamping screw.

gripper hub CAD — CAD image of gripper hub

Attach Mobile Gripper to Hub

Use #6x0.5" screws to attach the mobile gripper to the hub. Apply thread locker to the screws.

mobile gripper CAD — CAD image of mobile gripper

Attach Fingertip to Mobile Gripper

Use an M4x16 button head screw and nylon lock nut to attach the fingertip to the mobile gripper. Leave the nut loose enough for the fingertip to rotate.

Mount Home Switch to Gripper Motor Bracket

Use M2x5 screws to mount home switch variation B to the gripper motor bracket (PCBA-HOME-B-1.0). The gripper doesn't have an encoder, so this home switch is just a gripper open sensor.

home switch gripper — Gripper open switch

J3 Assembly Gripper Wiring