product spec sheet 3

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Graboid Series Articulated GrippersSpec Sheet

v1.0

www.RoadNarrows.com

Collin Horvat


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Graboid SeriesArticulated Grippers

Spec Sheet V1.0

Table of Contents

1 Introduction..............................................................................................................................42 Graboid Series D.....................................................................................................................5

2.1 Degree of Freedom (DOF).......................................................................................52.1.1 Pitch................................................................................................................52.1.2 Finger Rotation................................................................................................6

2.2 Dimensions.............................................................................................................72.3 Weight...................................................................................................................82.4 Holding Torque.......................................................................................................82.5 Speed....................................................................................................................82.6 Power Requirements...............................................................................................82.7 Recommended Controllers.......................................................................................82.8 Part Material...........................................................................................................82.9 Bill Of Material........................................................................................................9

3 Graboid Series F...................................................................................................................10

3.1 Degree of Freedom (DOF).....................................................................................103.1.1 Pitch..............................................................................................................103.1.2 Finger Rotation...............................................................................................11

3.2 Dimensions...........................................................................................................12

3.3 Weight.................................................................................................................133.4 Holding Torque.....................................................................................................133.5 Speed...................................................................................................................133.6 Power Requirements.............................................................................................133.7 Recommended Controllers.....................................................................................133.8 Part Material.........................................................................................................133.9 Bill Of Materials.....................................................................................................14

4 Contact..................................................................................................................................15

2011 RoadNarrows www.RoadNarrows.com Page 3/15


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Spec Sheet V1.0

1 Introduction

Graboid Series is RoadNarrows Robotics' solution for those looking for a simple, low-costgripper for their robotic needs. Built around commonly used servos, this gripper offers twodegrees of freedom, wrist up/down, and gripper open/close.

The Graboid Series Fuses the Futaba S3003 servos and is compatible with any controllerthat can control Futaba servos. The Graboid Series D uses the AX-12A actuators ofRobotisthat allow a higher torque and give feedback on their position and applied torque.

The GraboidSeries grippers are provided as kits (with or without servos) or already built.

Sensors, such as Infra Red distance sensors, can be added to the grippers in order tocustomize your robot and to make it easy to control the distance from the object to pick up.

RoadNarrows Robotics LLC has engineering and rapid prototyping (3D printing) capabilitiesto make custom fingers for your specific applications. Please feel free to contact us for anycustom designs.

Graboid Series D

Dynamixel actuators

Graboid Series F

Futaba servos



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Spec Sheet V1.0

2 Graboid Series D

The Graboid Series D uses the AX-12A actuators ofRobotis that allow a higher torque andgive feedback on their position and applied torque.

2.1 Degree of Freedom (DOF)

2.1.1 Pitch

The Graboid Series Dhas a totalpitch of 180o, with 90o rotation up and down.



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Spec Sheet V1.0

2.1.2 Finger Rotation

The Graboid Series Dhas a maximum finger opening of 120o, with 60o rotationper finger.



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Spec Sheet V1.0

2.2 Dimensions

All units are in mm.



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Spec Sheet V1.0

2.3 Weight

Graboid Series Dwith actuators: 156g (5.5oz, 0.3lbs)

Graboid Series Dwithout actuators: 46g (1.6oz, 0.1lbs)

2.4 Holding Torque

AX-12A: 15kgf-cm @ 12V 1.5A

2.5 Speed

AX-12A: 126rpm (No Load)

2.6 Power Requirements

AX-12A: 9-12V

AX-12A: 1.5A

2.7 Recommended Controllers

The Graboid Series D can be controlled by any Robotis Dynamixel AX-12A

compatible controller. Examples include the following CM-700

CM-510

Compatible PC software

2.8 Part Material

ABSplus

Product Name: P420 ABS Model

Chemical Family: Synthetic Thermoplastic Polymer



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Spec Sheet V1.0

2.9 Bill Of Material

Graboid Series D


Part Number Part Quantity Picture

Jack001-d Gripper Interface 1

Jack002-d Servo Mount 1

Jack003-d 2

Jack004-d Spur Gear Finger-Left 1

Jack005-d Spur Gear Finger-Right 1

Jack006-d Foam-Pad 2

Jack007-d M2 x 6mm Phillips Pan Head Screw 20

Jack008-d M2 Nut 12

Jack009-d M3 x 10mm Phillips Pan Head Screw 1

Dynamixel AX-12A


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Spec Sheet V1.0

3 Graboid Series F

The Graboid Series Fuses the Futaba S3003 servos and is compatible with any controllerthat can control Futaba servos.

3.1 Degree of Freedom (DOF)

3.1.1 Pitch

The Graboid Series Fhas a total pitch of 180o, with 90o rotation up and down.



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3.1.2 Finger Rotation

The Graboid Series Fhas a maximum finger opening of 210o, with 105o rotationper finger.

Gripper Fully Open



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3.2 Dimensions

All units are in mm.



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3.3 Weight

Graboid Series Fwith servos: 130g (4.5oz, 0.3lbs)

Graboid Series Fwithout servos: 28g (0.9oz, 0.1lbs)

3.4 Holding Torque

S3003: 3.2kgf-cm @ 4.8V4.1kg-cm @ 6V

Compression Spring: 0.43kg/cm (2.4lbs/in)

Note: The actual holding torque is directly related to the strength of thecompression spring.

3.5 Speed

S3003 (no load): 0.23 sec/60degrees @ 4.8V0.19 sec/60degrees @ 6V

3.6 Power Requirements

Voltage: 4.8-6V

3.7 Recommended Controllers

The Graboid Series Fcan be controlled by any Futaba compatible controllers.

3.8 Part Material

ABSplus

Product Name: P420 ABS Model

Chemical Family: Synthetic Thermoplastic Polymer



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Spec Sheet V1.0

3.9 Bill Of Materials

Graboid Series F


Part Number Part Quantity Picture

Jack001-f Gripper Interface 1

Jack002-f 2

Jack003-f Servo Mount 1

Jack004-f Spur_Gear 1 1

Jack005-f Spur_Gear 2 1

Jack006-f Gripper-Right 1

Jack007-f Gripper-Left 1

Jack008-f M2.5 x 10mm Pan Head Screw 10

Jack009-f M3 x 16mm Pan Head Screw 8

Jack010-f M2.5 Hex Nut 10

Jack011-f M3 Hex Nut 10

Jack012-f Servo-Horn 2

Jack013-f M2.5 x 12mm Pan Head Screw 5

Jack014-f Gripper-Spring 2

Jack015-f M3 x 12mm Nylon Pan Head Screw 1

Futaba S3003 Servo Bulk


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Spec Sheet V1.0

4 Contact

Please feel free to contact RoadNarrows LLC with any questions regarding Graboidproducts.

Mailing & Shipping AddressRoadNarrows LLC1151 Eagle Drive #140Loveland, CO U.S.A. 80537-8020

Colorado OfficeRoadNarrows LLC125 East 5th Street #102(back alley entrance)Loveland, CO U.S.A. 80537-5639

Phone: 1-800-275-9568Fax: 1-800-275-9534

Inquiries: [email protected]: [email protected]: [email protected]

www.RoadNarrows.com

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product spec sheet 3

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