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Gripper B (gripper-b)

Ukratko

A gripper that can grab and lift a RCJ Rescue Line ball.

Download STEP model.

Model: Gripper B (gripper-b) - upute za sklapanje

Catch servo

Before assembling the gripper, all the servo motors' shafts must be put in certain positions. Check the instructions for Model: Line Robot (mrm-rob-lin).

Take a servo motor. This will be "catch" servo.

Potrebni elementi
Robot servo 0.6 Nm, 300º, dual axis, 6 V (mrm-rd-5606hb-300), 1 kom.

Main body

Attach upper servo to the body. Faster it with screws supplied with the servo. Use 2 of them for each side. Note that servo is not simmetric so there are different screw holes on each side.

Potrebni elementi
Model: Gripper body B (gripperBodyB), 1 kom.

Rotating servo

Attach lower servo to the body. Fasten it with screws supplied with the servo. Use 2 of them for each side. Note that servo is not simmetric so there are different screw holes on each side. This servo will be called "rotate servo".

Potrebni elementi
Robot servo 0.6 Nm, 300º, dual axis, 6 V (mrm-rd-5606hb-300), 1 kom.

Levers

Note positions of the 6 Model: Lever 70 mm (lever-70).

Potrebni elementi
Model: Lever 70 mm (lever-70), 6 kom.

Constraint levers

Note positions of 2 70 mm constraint levers.

Potrebni elementi
Model: Gripper lever 70 constraint (gripper-lever70con), 2 kom.

Constraint levers attaching

Jaws

Note jaws' positions. Also note that the 2 parts are mirrored. Therefore, do not print 2 identical parts but mirror one of them before printing.

Potrebni elementi
Model: Gripper Jaw lower reach (GripperJawLow), 2 kom.

Constraint part

Fix constraint the constraint part with 2 small screws that came with the servo.

Potrebni elementi
Model: Gripper constraint 2 (gripper-constraint), 1 kom.

Light barriers' spacers

Attach 2 spacers, 1 per jaw, that will hold the light barrier.

Potrebni elementi
Nylon nut M2 (mrm-nut-m2nyl1), 2 kom.

Nylon spacer M2 5 mm (mrm-spac5m2nyl1), 2 kom.

Light barrier

Put light barrier's receiver and emitter in positions.

Potrebni elementi
ML-R Light Barrier 2 Emitter, high intensity (mrm-barr2em-hi), 1 kom.

ML-R Light Barrier 2 Receiver (mrm-barr2re), 1 kom.

Light barriers's bolts

Fix the barrier with 2 bolts.

Potrebni elementi
Nylon bolt M2 5 mm, 1 pc. (mrm-bolt5m2nyl1), 2 kom.