0:00:06 Project Overview: The goal is to build a gripper for a robot arm, powered by a previously built battery.
0:00:21 Materials and Components: The gripper will be assembled using 3D-printed components, three servos (one is broken), maker beam rails (134mm length), GT2 6mm wide belt, bearings (12mm inner diameter, 18mm outer diameter, 4mm thickness; and 3mm inner diameter, 10mm outer diameter, 4mm thickness), and various screws and nuts.
0:00:36 Gluing Components: Some 3D-printed parts are glued together using super glue for aesthetic purposes, as they are not subject to significant forces.
0:02:12 Servo Motor Installation: The servo motor is installed and secured with M2.5 8mm screws.
0:02:51 Pulley Installation: A small pulley is installed on the servo's output shaft using four M2 6mm screws.
0:03:03 Rail and Carriage Assembly: The maker beam rail with two carriages is attached to the main structure using M3 12mm screws and embedded nuts.
0:03:29 Pulley System: A pulley system is created using bearings and 3D-printed parts to guide the GT2 belt.
0:04:59 Belt Installation: The GT2 belt is installed, which is a challenging process requiring precise tensioning and alignment.
0:06:01 Belt Length: The required belt length is 428mm.
0:07:12 Belt Tensioning Issue: The initial belt installation resulted in misalignment, requiring adjustment by moving one slider on the belt by one tooth.
0:08:05 Base Assembly: The base of the gripper is attached to the robot arm and the main gripper structure.
0:08:36 Finger Installation: Fingers are attached to the sliders using 12mm screws.
0:09:20 Silicone Padding: The plan is to add silicone padding to the fingers to improve grip. Molds are created for this purpose.
0:10:15 Silicone Molding Process: Silicone is poured into the molds and left to cure. However, the curing process was uneven, with some parts remaining liquid after 12 hours.
0:11:12 Post-Processing: The cured silicone parts are trimmed and attached to the fingers.
0:11:50 Gripper Completion: The mechanical assembly of the gripper is finished.
0:12:14 Gripper Specifications: The gripper weighs 377g and has a maximum gripping force of around 4kg.
0:12:27 Control System: The gripper is controlled using a microcontroller connected to a PC, allowing for both position and force control.
0:13:59 Future Plans: The creator plans to build a second gripper and a second robot arm.