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Summary
A gripper compatible with a mini servo I used the Topline ES-05 JR, I milled it with a 3-axis cnc machine but its also printable. Made of 4mm hardboard.
A little video:
http://www.youtube.com/watch?v=7CUNx4kPw6w
For more pictures and info:
http://jjshortcut.wordpress.com/2010/04/19/my-mini-servo-grippers-and-completed-robotic-arm/
Instructions
To assemble the gripper you use m3 nuts and bolts. For the gripper parts you use nylock nuts so the gripper wont come loose. For more grip use some kind of soft foam which you glue on the grip parts with super glue. For connecting the horn of the servo to the right gear part use some small screws, like 2mm.
