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What I can't figure out is how long to make the remaining bars. I THINK that the bar going up from the middle (at the top of the triangle, point A) has to be as long as the pegs on each gripper half are apart. The pegs on the actual grippers are 5mm apart,
Having said that, why make it so complicated? What purpose do all the extra links serve?
Hi,It seems like you're mixing up two types of grippers?The one with two arms each side doesn't need the pin/bar to slide on, but the two arms need to be equal length, so as to make a parallelogram.
My thought is to move the top arm pivot point on the jaw up a bit so the two almost parallel arms don't interfere.Image shows the new pivot point and jaw extension in red. the new are location in blue.
you only have one set of linkages connecting the two, wouldn't the force required to close the gipper with any strength at all be high considering you're converting vertical
Yes the force can change dramatically, see "toggle mechanism", but you can't solve it with two mechanisms operating at the same time. That's analogous to driving a shaft with two gear ratios at the same time, it's always jammed.To keep the force reasonably constant, just adjust the lengths to the angles never change too much.
I see, I was debating that, and it's still an option, however I'd have to move the linkages to the outside of the "claws", so that they aren't as vertical when the gripper closes, basically so that they still have an angle to them (if you understand what I
Yea it might end up a bit of a compromise. What requirements do you have? Specified opening range? Force? Actuator force? Do the jaws have to remain parallel? How will the actuator be attached? No point making something that feels really nice if it's better than it needs to be.
Hi again,I do have some very loose requirements. I would like it to open at least 2 cm, and I would like the jaws to remain parallel. And well, as for the force, I would like it to be able to pick up pretty small things, as this gripper is small to begin with. I haven't really decided how powerful I want to make it, but I think it's going to depend on WHAT I can actually build, and the actuators I am actually going to get. I think I'm actually going to use an actuator rather than a servo, any advantages of one over the other?