Compliant Robot Gripper

This is a remix of Chiprobots original gripper to fit a 30mm diameter glue stick which is very common here in NZ. The part count has been reduced and the parts have be redesigned to better suit 3D printing. The servo flange is designed to take a cheap SG90 plastic gear servo. The appendage is Chiprobots original but scaled up 15% so it can be printed with a common 0.4mm nozzle.

The upper bracket should snap on where the cap usually goes and for me it was tight enough not to require gluing. Wind the glue stick all the way out the drive nut can be cleaned up and then glued to the base of the plunger. The piece at the bottom of the glue stick which you turn with your fingers is cut off with a sharp knife and the Servo Horn Adapter is glued in to the base along with the the splined socket from one of the servo horns.

I have included a simple arduino sketch which allows you to send characters 0-9 over USB serial to test out the gripper or interface with your robot.