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Hey! This thing is still a Work in Progress. Files, instructions, and other stuff might change!
4ndreas

Three Finger Gripper

by 4ndreas Feb 1, 2015
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Impressive work, thank you for making it open-source to the world!

hello, i am building arm with stepper motors. how to control these geared DC motors ?

hey do u have the stl for the attachment mount pls

hey do u have the stl for the attachment mount pls

do u the the attachment for the 3 finger gripper

when is the Mantis is finished thanks that is the white one right

how do i control this pls u pave a code for it pls

This is the coolest thing I have ever printed! Thanks!

Absolutely excellent. I want to add a finger gripper to my SCARA robot arm project.

awesome design, just ordered the motors! I managed to get some 120rpm 16mm, assume you are using the 6v ones?

Comments deleted.

is the Mantis the ver 4 on wheel or just the arm when u think its finished

Thank you

Mantis is an improved version 4.
The wheels are optional and a later project. Depends on my free time.

hey

where do i get the stl file for the arm in pic thank you
email i900032@gmail.com

Hi, the orange robot arm is quite a mess, I only have the Autodesk Inventor files online:
https://github.com/4ndreas/BetaBots-Robot-Arm-Project
I suggest you take a look at the green version or wait until the Mantis is finished.
http://www.thingiverse.com/thing:1480408

Mantis Gripper
by 4ndreas

Hi!

Awesome gripper! I'm building this for our student club's drink robot which is Adept's industrial robot arm :)

One question:

I will connect the gripper's motors to Arduino or Raspberry Pi. I want to pick and place one litre bottles which are differently shaped. How can Arduino/RasPi have feedback that now the gripper has a firm grip and the motors should be stopped so that they don't burn. Should I try to monitor the current the motors take, place force sensors somewhere, or something? Thank you!

Hello Andreas,

first thanks for this great project :)
Currently I have all parts printed and I started to assembly but I wait for motors delivery.
I have two questions:

  • Can you give us the springs parameters?
  • Can you upload last two parts?

Thank you in advance.

I think the springs are 5x20mm or something like that I bought a 5€ 200 piece pack with springs and just used what fees good ;)
the gear for the servo didn't worked as I planed. Now I use the normal servo hinge and a wire. I still don't have a better solution.

Hi 4ndreas!

I've already all the fingers printed but I think it's missing the pinion of the Servo. Thanks so much. Incredible Design!

Do you have a link to the motors you bought (:

Printing now...

I bought the motors over ebay or aliexpress, the are labled as "3mm Shaft 16mm Diameter DC Geared Motor 12V 120RPM w Gearbox" Just compare them with the drawing I included in the pictures.

Is this is the same motor ? "ZnDiy -BRY 16GA-120 DC 12V 120RPM Geared Motor"
http://www.dx.com/p/zndiy-bry-16ga-120-dc-12v-120rpm-geared-motor-silver-323576#.VSFc7fzF98E

I bought motors from your link and they fit perfectly.