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28.2 Two-Pincher Gripper
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The two-pincher gripper consists of two movable fingers, somewhat like the claw of a lobster. The steps for constructing one basic and two advanced models are described in this section.
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28.2.1 BASIC MODEL
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For ease of construction, the basic two-pincher gripper is made from extra Erector set parts (the components from a similar construction kit toy may also be used). Cut two metal girders to 41 2 in (since this is a standard Erector set size, you may not have to do any cutting). Cut a length of angle girder to 31 2 in, as shown in Fig. 28-3 (refer to the parts list in Table 28-2). Use 6 32-by-1 2-in bolts and nuts to make two pivoting joints. Cut two 3-in lengths and mount them (see Fig. 28-4). Nibble the corner off both pieces to prevent the two from touching one another. Nibble or cut through two or three holes on one end to make a slot. As illustrated in Fig. 28-5, use 6 32-by-1 2-in bolts and nuts to make pivoting joints in the fingers. The basic gripper is finished. You can actuate it in a number of ways. One way is to mount a small eyelet between the two pivot joints on the angle girder. Thread two small cables or wire through the eyelet and attach the cables. Connect the other end of the cables
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FIGURE 28-3 An assortment of girders from an Erector set toy construction kit.
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28.2 TWO-PINCHER GRIPPER
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TABLE 28-2 2 1 4 Misc.
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Parts List For Two-Finger Erector Set Gripper 41 2-in Erector set girder 31 2-in-length Erector set girder
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2-in-by-6 32 stove bolts, fender washer, tooth lock washer, nuts
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14- to 16-gauge insulated wire ring lugs, aircraft cable, rubber tabs, 2-by-1 2-in corner angle brackets (galvanized or from Erector set)
to a solenoid or a motor shaft. Use a light compression spring to force the fingers apart when the solenoid or motor is not actuated. You can add pads to the fingers by using the corner braces included in most Erector set kits and then attaching weather stripping or rubber feet to the brace. The finished gripper should look like the one depicted in Fig. 28-6.
28.2.2 ADVANCED MODEL NUMBER 1
You can use a readily available plastic toy and convert it into a useful two-pincher gripper for your robot arm. The toy is a plastic extension arm with the pincher claw on one end and a hand gripper on the other (see Fig. 28-7). To close the pincher, you pull on the hand gripper. The contraption is inexpensive usually under $10 and it is available at many toy stores.
4 1/2"
Finger
Pivot Bar
3 1/2"
FIGURE 28-4 Construction detail of the basic two-pincher gripper, made with Erector set parts.
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1/2" x 6/32 Bolt Gap between Finger and Pivot Bar
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FIGURE 28-5 Hardware assembly detail of the pivot bar and fingers of the two-pincher gripper. a. Assembled sliding joint; b. exploded view.
Chop off the gripper 3 in below the wrist. You ll cut through an aluminum cable. Now cut off another 11 2 in of tubing just the arm, but not the cable. File off the arm tube until it s straight, then fashion a 11 2-in length of 3 4-in-diameter dowel to fit into the rectangular arm. Drill a hole for the cable to go through. The cable is off-centered because it attaches to the pull mechanism in the gripper, so allow for this in the hole. Place the cable through the hole, push the dowel at least 1 2 in into the arm, and then drill two small mounting holes to keep the dowel in place (see Fig. 28-8). Use 6 32-by-3 4-in bolts and nuts to secure the pieces. You can now use the dowel to mount the gripper on an arm assembly. You can use a small 3 4-in U-bolt or flatten one end of the dowel and attach it directly to the arm. The gripper opens and closes with only a 7 16-in pull. Attach the end of the cable to a heavy-duty solenoid that has a stroke of at least 7 16 in. You can also attach the gripper cable to a 1 8-in round aircraft cable. Use a crimp-on connector designed for 14- to 16-gauge electrical wire to connect them end to end, as shown in Fig. 28-9. Attach the aircraft cable to a motor or rotary solenoid shaft and activate the motor or solenoid to pull the gripper closed. The
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