Mantis Gripper

by 4ndreas, published

Mantis Gripper by 4ndreas Apr 13, 2016
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Mantis Gripper by 4ndreas is licensed under the Creative Commons - Attribution license.

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Hi, i want to build this gripper but i do have issues slicing this thing. See attached screenshot. I reduced to 0.3mm nozzle but the same issues.
I use curaengine with repetierhost 2.0.5.

Do you can provide me a modified stl with a thicker wall?

I tried now slic3r and this fixed the issue. Maybe i will use this slicer in future.

I want to use bath silikone to fill the gripper.

hey do u have the stl for the attachment mount pls tripod one pls

FYI: for PLA, I found that reducing Gear.stl to 98% worked better for me.

Fantastic job on the design and geometry of movement. You made this industrial strength with all the bearings and such. Just curious how much difference using just nylon washers, spacers (to compensate for bearings diameter) and just a bolt, without any bearings would compromise the force or life of the gripper?

Which exact servo model or servo dimensions would fit?

It looks like a Standard Servo is what he used. I just ordered an all-metal 20kg servo - may be overkill, but will report back with results.

Great arm! Really looks strong and precise!

Hi, very nice work, amazing !
What materiel did you use for print ? It is PLA, nylon or ... ?

Think he prints everything in ABS if I remember from the video logs

Any idea on how to add feedback to this gripper so that it knows when something is successfully held? Want it to be able to adapt to objects of different shapes and sizes.

You could embed a pressure sensor on the gripper itself, or a torque sensor on the gear axle, Or, as an indirect means, you could monitor servo current (run a calibration on current versus pressure beforehand).

One solution would be to monitor the servo current.
Another way is to use sensors, like FSR...

About adapting to shape/size, you could mix this grip with this design: http://www.thingiverse.com/thing:1487390

Festo Fin Ray effect clamp

I love this almost as much as the arm itself. Will you be uploading the ipt files onto git? Would love to integrate this into a project I am currently working on.

I'm also interested in source CAD files so that I can change some of the hole sizes in the model.
Are you going to push these models to github?

A man and his quest for a robot to hold his coffee....beautiful

thank you for sharing your amazing work and the professional video
i love your work

As always great work and thank you for sharing. I have started printing this already but it seems that the gear is missing?

On another note and for others who may make this. I have also printed one of the openhand models and have come to the same conclusions as you. But I did not have the urethane when I printed mine so I used silicone sealant in its place. It seems to work very well and is very sticky, but takes a long time to cure.

Thank you again

Can you provide more details about the silicone you used? I'm looking at several different options rather than bite the cost of the trial size urethane. I'm looking at Permatex type at the moment, or some other RTV type of silicone material. But just curious which way you went.

I'm sorry I uploaded the wrong parts. I fixed it.

That's wonderful. Thank you

How about using ninjaflex for the rubberised parts? these parts could be stuck on after printing

Well this rubber is softer and kind of sticky. The ninjaflex is very smooth. Sure it's better than ABS but I think the rubber is better for gripping much more like skin. But on the other hand ninjaflex is clearly tougher.