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:

Plotting setup

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

Jaw Spacing

The distance between the rubber pads of the jaws

Data

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