A servo motor based gripper with feedback wire
This gripper is not like other ones! Firstly, it uses a rack and pinion design with a servo motor in such a way that gripper paddles synchronized and parallel to each other. This gripper has a range of motion of 32 mm wide. The micro servo have an additional wire to grain access to the Servo's feedback potentiometer. With that wire, you can track the actual position of the gripper paddles.
This gripper is identical to the gripper used with the Robot Arm Kit for Romi robots, and offers comprehensive assembly instruction in the Robot Arm Kit for Romi User’s Guide.
The servo is intended to be powered from 4.8 V to 6 V (nominal) battery packs. The stall current of around 800 mA at 6 V. The feedback voltage ranges linearly from around 0.5 V (fully open) to 2.2 V (fully closed). This means that there is an approximately 1:1 correspondence between servo position in microseconds and the feedback voltage in millivolts.
Please note that full gripper movement range requires the servo control to be controled with pulses between 0.5 ms (fully open) and 2.4 ms (fully closed). This pulse range is beyond the standard hobby servo range 1 ms to 2 ms. If you need to control the gripper in full range you should make sure your electronics is able tp generates such signals range.
Due to unit-to-unit variations in the servos, you might need to adjust these values for your particular gripper.
For each order, you will receive the items of the kit.
- One micro servo with position feedback
- One top micro gripper case
- One bottom micro gripper case
- One micro gripper plate
- One micro gripper pinion gear
- Two micro gripper paddles with rack