Budget Robotics Gripper and Wrist Kits（预算机器人抓手和手腕包）.pdf

Budget Robotics Gripper and Wrist Kits Assembly Instructions The Budget Robotics Gripper and Wrist kits offer a simple and low-cost solution to building your own robotic end-effector. Assembly is simple, and takes less than 15 minutes. Both kits (sold separately) are intended for use with any standard-size servo of approximately 1 1/2 x 7/8 x 1 3/8. Popular standard-size servos include the Hitec HS-311 and HS-322, Futaba S-148 and S3003, Cirrus CS-36, GW S S03, and many others. Servos are not included in the basic kit, but can be purchased locally and online. A list of discount servo sources appears at the end of these instructions. The Gripper and Wrist kits work well with economy servos. For added strength, you may wish to select a high-torque model -- standard-size servos average about 44 oz-in of torque at 6 volts, but higher torque versions offer torques of 50-70 oz-in, and above. However, even with servos of average torque, the gripper is able to put a significant squeeze on any object up to about one inch in girth. The high amount of pressure is made possible by the lever action of the clamp used as the gripper. The wrist mechanism can pick up and hold objects weighing 10-12 ounces; higher weights are possible by using higher torque servos. Additionally, increased torque can be achieved by powering the servos at 6 and even 7.2 volts. (Higher voltages are not recommended, unless you thoroughly test the limits of your servos.) The Gripper kit comes with a pre-cut and pre-drilled plastic gripper mount, a high-impact clamp, and assorted hardware. The Wrist kit comes with pre-cut and pre-drilled plastic servo and servo horn mounts, and hardware. The plastic pieces are constructed using precision CNC routers. The plastic material used in the kits is strong but lightweight rigid expanded PVC. The Wrist kit is designed to mimic the three degrees of freedom (