Introduction: Single Servo Robotic Gripper

Picture of Single Servo Robotic Gripper

In this instructable I will show you step by step how to make a robotic gripper. You may be wondering: What does it do? It is basically a robotic hand that slowly closes and if something touches the switch while it is closing it stops so it grips onto the object that presses the switch.

This instructable was originally going to be a celebration instructable for achieving 50 000 views overall 50 followers and 25 instructables but now I am almost at 75 000 views! Thank you everyone that is following me and everyone that views my instructables!

Update: Adafruit has posted this instructable in their blog: http://www.adafruit.com/blog/2014/10/10/build-a-si...

If you like this instructable then you should check out this one: https://www.instructables.com/id/DIY-Head-Mounted-D...

Step 1: Parts and Tools

Picture of Parts and Tools

Here are the parts and tools you will need to make this project:

Parts:

Normally closed/ Normally open limit switch

Micro servo

Arduino

Wire

USB A to B cable

Tools:

3d printer

Filament any colour PLA or ABS

Computer with Arduino IDE

Step 2: 3d Print Files

Picture of 3d Print Files

3d print this file:

http://www.thingiverse.com/thing:482088

Any colour will do but I chose black PLA.

Step 3: Assemble

Picture of Assemble

First glue the servo onto the base piece. Then Assemble the parts together by gluing one of the "fingers" to the base piece as shown in the first image. Then slip the second "finger" onto the servo horn as shown in the second image.

Step 4: Wire Servo

Picture of Wire Servo

Wire the servo's negative wire (brown) to the arduino's ground. Then wire the poitive wire (red) to the arduino's 5v pin.

Step 5: Mount Limit Switch

Picture of Mount Limit Switch

Glue the limit switch to the "finger" that is mounted to the base and not the servo. Make sure that when the grippers are together the switch is clicked. Wire the servo's data wire between the switch so that the limit switch so it is normally closed. Then wire the other pin of the switch to pin 9.

Step 6: Upload Code

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Upload the code to the arduino.

Step 7: Test

Picture of Test

Test and see if it works. The gripper should open and close slowly. If it does place something into the gripper like a pencil and it should stay put. If you take out the pencil it should continue to open and close.

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Comments

voisin49 (author)2017-01-23

Does the brand of servo matter ?

Gideon Rossouwv (author)2015-08-15

Wow this looks great! I will hopefully try it soon.

zackboston1 (author)2015-01-24

Hello! I like your design. Can you give me a link to the limit switch you used? I am interested in building one, but I can't figure out what to buy. Googling "Normally closed/ Normally open limit switch" doesn't seem to help and your photo is a bit fuzzy! Thanks so very much!

Zach Sousa (author)zackboston12015-01-24

Hello, You can use a switch like this one from radioshack:
http://www.radioshack.com/spdt-switch-without-roller/2750016.html#.VMPo5Cl2fqB
If you can't buy this one you can just Google "limit switch"
Hope this helps!

tkleinauskas (author)2014-10-06

Nice work!

Zach Sousa (author)tkleinauskas2014-10-10

Thanks!

MsSweetSatisfaction (author)2014-10-04

Ooo very neat! Thanks for sharing!

About This Instructable

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Bio: My name is Zach Sousa and I'm a Canadian highschool student that has a passion for making.
More by Zach Sousa:CNC Oak Watch BoxCNC Camera SD Card HolderEdge 3D 3.0 - A $200 3D Printer
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