The Stretch Compliant Gripper utilizes a Dynamixel XL430-W250-T servo to drive the spring grasper mechanism. The kinematics of the grasper mechanism is complex and non-linear relative to the motor position. As shown, it includes mounting features on one side to allow for the attachment of simple rigid tools such as hooks and pullers.
|A||Stud attachment||Threaded 6-32|
|B||Thread attahcment||Threaded M4|
The attachment features are spaced at 9 mm.
The weight of the Stretch Compliant Gripper is 240 g.
Here we describe removing the Stretch Compliant gripper. Installation is simply these steps in reverse.
- Unplug the Dynamixel cable from the back of the gripper.
- Remove the 4 screws holding the gripper to the bracket.
- Remove the gripper from the mounting bracket
- Unscrew the 8 screws holding the mounting bracket to the bottom of the tool plate.