New Gripper

[JonHylands]

Well, it turns out the old gripper I designed and had built had some serious limitations, so we decided to start from scratch again, and build something that can use AX-12 servos as the actuators.

Here's what it looks like:



This gripper can hold 1.5" diameter objects, and it has spots for four pressure sensors, two on each finger. I'm using a foot pressure sensor board to capture the pressure sensor data, and make it available on the bus.

Here's a video of it in action:

phpBB [media]

- Jon

[cdraptor]

Very nice, how's the size and such for working on the humanoid, looks somewhat bulky, but still would be slick for an arm interface on a base or roving platform.

[JonHylands]

Yes, its quite bulky. I wouldn't put it on a walking humanoid. This is going on something that looks more like a Johnny-5...

- Jon

[ShreddinPB]

if you reduce the torso weight by going lion in the feet like that other thread.. you could possibly use those on a humanoid dont you think?

nice design btw

[JonHylands]

I did a blog posting to show a couple CAD renders of what the new BrainBot will look like.

http://www.huv.com/blog/2007/08/another-chapter-for-brainbot.html

This is the base I am building these new grippers for...

- Jon

[JonHylands]

And a new blog posting that shows the working tracked base. Unfortunately, I don't have a BrainBot handy (the first prototype is down in New Hampshire) to mount on it, but you basically remove four screws from the leg mounting plate, undo the bus connectors, and mount this in its place.

http://www.huv.com/blog/2007/09/tracked-base.html



- Jon