Standard servo gripper

by jjshortcut, published

Standard servo gripper by jjshortcut Apr 20, 2010

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Standard servo gripper by jjshortcut is licensed under the Public Domain license.

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A gripper compatible with a standard servo. I used a RS 2 J/R servo from modelcraft. My model is made with a 3 axis CNC milling machine but it's also printable. It's made of 4mm hardboard.

For a little video:

For more pictures and more info:


To assemble the gripper you use m3 nuts and bolts, I included the STL file for spacers (cillinder.stl) but you can also take metal spacers with screw tread m3 in it. For the gripper parts you use nylock nuts so the gripper won't come loose.

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I recently printed one of these. It was fun to print and assemble.

The back part that is perpendicular to the rest of the parts has some issues when it comes to printing. The small holes are too small and too close to the large hole and forced me to stop the print when the head crashed into the pile of plastic it was creating around the holes. Proof that I still
have more tuning to do in Skeinforge.

I have a couple of notes about the design. The left gear will come un-engaged from the right gear when it is opened too far, adding an additional tooth to the left gear will fix that. But then it might collide with the back part, maybe adding an additional toot
h to the left gear and moving all of the teeth over by a half tooth-width will work.

When the grippers are fully closed, the arms of the gears will still have room to close between each other and cause the tips of the the gripper to come apart in what looks like it is puckering up for a kiss. If th
e gripper tops and bottoms continued parallel to each other back towards the body past the joint with the linear maker, then it wouldd be prevented from closing any more past the 'closed' position.