Servodriven parallellgripare för en robotarm

Tekniska kontroller

Namn på kontroller och parametrar kommer direkt från CAD-motorn och visas på engelska.

• ✓Gears mesh in phasecentre distance m(z1+z2)/2 = 25.00 mm, 20/20 teeth, module 1.25; overlap 0.000 / 0.000 mm3 at rest / turned 17 deg; contact ratio 1.45; backlash 0.21 mm at the pitch circle (0.1 mm flank gap each side)
• ✓No tooth undercut20 teeth at 1:1 (20 deg) vs 13 minimum
• ✓Teeth take the servo's stall torque3.2 MPa at the tooth root (Lewis, Y 0.322) for half of 0.196 N m through the mesh; PLA allows 16.7 (teeth printed flat, along the layers)
• ✓Jaws stay parallel (four-bar closes)frame pivots and finger pins both 31.4 mm apart, arm and idler both 31.7 mm: a parallelogram, so the finger only translates; idler end meets the finger pin within 0.0e+0 mm at 0/20/30/55 deg
• ✓Jaw rangeopens to 60 mm at 55 deg, closes to 8 mm at 0 deg with the fingers clear of each other and the frame (overlap 0.00 mm3); 55 deg of servo travel
• ✓Object fits between the open jaws15.0 mm each side round the 30 mm cube when open; the jaws meet it at 20.3 deg
• ✓Pads close square on the objectclosed pads touch the cube at x = +-15 mm (overlap 0.00 mm3), 29 mm of pad along it; links and frame clear; open, nothing touches it (0.00 mm3)
• ✓Grip holds the object3.3 N per jaw at stall (2.0 kg cm through 31.7 mm links at 20 deg); friction 3.3 N vs 0.56 N to hold a 19 g wooden cube at 3 g (a quick lift)
• ✓Pivot pinsM3 screws as pins: finger loads 10.7 N (arm) and 11.4 N (idler); bore pressure 0.76 MPa (keep under ~5 in PLA), screw shear 1.6 MPa
• ✓Arm root bending0.6 MPa at the 14 x 5 mm hub for 0.098 N m vs 16.7 along the layers
• ✓Jaw root bending2.9 MPa at the jaw root (grip x3 for a bump) vs 16.7
• ✓Horn screw drives the gearstall torque on the M2 horn screw 7.5 mm out: 26 N, 3.1 MPa bearing in the gear vs 16.7; the stock horn screw on the spline centres it
• ✓Servo seated and screwedMG90S tabs rest on the plate, 2x M2 self-tappers 27.8 mm apart; body passes a window 0.3 mm clear (overlap 0.00 mm3)
• ✓Pad retaineddovetail 2 mm deep, 1.0 mm undercut each side carries the object's weight; slides in from the tip against a closed back end
• ✓MG90S servo goes in23 poses along its path clear of every part.
• ✓30 mm cube goes in40 poses along its path clear of every part.
• ✓driver: finger pin goes in20 poses along its path clear of every part.
• ✓driver: arm pin goes in20 poses along its path clear of every part.
• ✓driver: gear-right axle goes in20 poses along its path clear of every part.

Justerbara mått