Cobot's Gripper - RoBorregos/smart-factory GitHub Wiki

Overview

Reconfigurable 3-finger adaptive gripper. The gripper has load cell sensors to measure force applied by the fingers, and encoders to provide position of both the lead screw nut and the rotation of the fingers.

Actual state

CAD model with many areas of improvement Imgur Imgur

Materials and processes used

  • Aluminum, steel, PLA and resin
  • CNC Milling
  • 3D Printing

Software used

  • Solidworks
  • Ansys Mechanical
  • Simplify3D

Documentation

Bill of Materials

Spreadsheet (Work in Progress)

Additional modifications and improvements

  • Smaller motor can be used to rotate the finger holders
  • Too many moving parts
  • Screws not added to CAD assembly yet
  • Lead screw constraint is reversed
  • Expensive (?)