Purpose

To provide the SW team with information required to model the position of the gripper tips using SolidWorks.

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Mechanism Description

pinion (28 teeth) connected to maxon motor (651614). pinion meshes 120 tooth gear which is fixed to a lead screw ( 8mm OD RH 1.5mm Pitch). Lead screw drives linkage which drive the jaws.

linkage lengths are shown below - all units in mm:

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Plotting setup

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Big gear rotation

This is the rotation of lead screw (and big gear) is recorded in the data, not the pinion.

big gear recorded to be ~700 deg/sec. Simulation ran at a constant 500 rpm at the pinion.

Depth Spacing

The distance from the tip of the jaws to the inside of the gripper

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Jaw Spacing

The distance between the rubber pads of the jaws

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Data

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