Grippers specifications

Key features #

• Parallel distal phalanx movement
• Removable/Interchangeable tips (Default tip : hybrid hard tip with rubber-like covering)
• Dynamixel XM430-W210-R actuator
• 100 mm wide open position
• 24V Power input → Converted to 12v by the embedded electronics
• Nominal Force : 10N
• Peak Force : 50N
• Current-based position control : Adjustable force limitation
• Weight: 400g

General Dimensions #

Parallel distal phalanx movement means that in every position of the gripper, distal phalanxes remains parallel.

Maximum opening between the 2 distal phalanxes is 100mm. Maximum closing is when the 2 opposite distal phalanxes are in contact.

Fingers & tips #

Fingers are specifically designed to allow gripping of various shape objects. The inside of proximal phalanx is covered with a rubber like material, and distal tip is directly do with a specific adhesive material

Tips are V-shaped in 2 directions to help with holding thin objects

Example of easily graspable objects :

Interchangeable Tip #

The tips can be easily changed depending on customers’ needs.

Size, shape and material can be changed to design new tips and fit them on each finger, thanks to a specific mechanical interface.

Default Tip : hybrid hard tip with rubber-like covering

Advanced #

Mechanism #

Starting to the 0 position of the motor (0°), gripper is closed. Gripper full opening occurs when a 152° angle is applied to the motor.

Note :

To ensure full closing of the gripper during manipulation, a negative angle is applied to the motor (up to -10°). This allows to hold very thin objects (sheet paper i.e) by producing small collisions between distal phalanxes.

Motor rotation motion creates creates a linear motion of the connecting rods. This will create a non-linear gear ratio depending on its position.

Mechanical interface with Orbita3D #

Electronic interface #