Handheld gripper

Printed parts

6

Steps

11

Print

≈ 5 h

Assembly

≈ 6 min

Download PDFDownload STEPPrint plates on MakerWorldCAD on Onshape

Before you startCopy Anchor Link

ToolsCopy Anchor Link

• 3D printer for PLA and TPU 95A
• Hex key, 2.0 mm
• Hex key, 2.5 mm
• Scissors

Soft tipsCopy Anchor Link

The tip nuts sit in soft TPU.

Tighten the M3×10 screws until the tip does not move. Do not tighten them more.

Gear timingCopy Anchor Link

Mesh the finger gears with both fingers at the same angle (step 5).

TagsCopy Anchor Link

Left-hand gripper: 2000 base, 2001 left finger, 2002 right finger.

Right-hand gripper: 2003 base, 2004 left finger, 2005 right finger.

Print the tags from the tag sheet at the end. Before you cut them, check their size.

PrintCopy Anchor Link

Two-material tipsCopy Anchor Link

Tips E and F each have a PLA nail at the front end and a TPU 95A body.

In the slicer, import each tip as one object with two parts.

Assign PLA to the nail and TPU 95A to the body.

Set the infill of the body to 100 %.

Get the print plates on MakerWorld, or download the STEP files of the printed parts. The CAD is on Onshape.

HardwareCopy Anchor Link

Drawing	Part	Qty
	M3×25ISO 4762	2×
	M3×10ISO 10642	4×
	M3 nutISO 4032	6×
	1/4"-20 × 10 mmD-ring camera screw	1×

The drawings show all hardware at one scale. The PDF shows it at 1:1.

PartsCopy Anchor Link

AssemblyCopy Anchor Link

1

2

3

4

5

6

7

8

9

10

11

FinishedCopy Anchor Link

TemplatesCopy Anchor Link

Grip tapeCopy Anchor Link

1. Print page 11 of the PDF at 100 %.
2. Cut the 3M TB641 tape along the dashed lines.

Outline F is the mirror image of outline E.

AprilTagsCopy Anchor Link

1. Print page 12 of the PDF at 100 %.
2. Check the tag size.
3. Cut along the gray lines.

The tags are tagStandard41h12. Each sticker is 20 mm square.

Check the tag sizeCopy Anchor Link

1. Measure the inner square of a printed tag. It must be 10.00 mm.
2. Measure the whole tag. It must be 18.0 mm.
3. If a value is different, print the tag sheet again at 100 % (Actual size). Do not use Fit to page.

A different value means that the printer changed the scale.