Lynx A-Gripper Assembly Instructions Rev. 1.

Updated 10/02/2003

Safety first! Wear eye protection and never touch a powered robot!

Note: Do not use Loctite or thread locks on the assembly. They are not necessary and may cause damage to the Lexan.
Image of the gripper.
 
Step 1. Make a 1.875" cross member using the 1.500" and the .375" nylon hex spacers. Then connect it to the wrist servo panel as illustrated in figure 1. Tighten these down snugly.

1 x  1 x  1 x 
Figure 1.
 
Step 2. Install the gripper servo plate and the servo hinge panel as shown. Use a .250" 4-40 screws for this step. Tighten these down snugly.

1 x


Figure 2.
 
Step 3. Turn the assembly over and insert two .625" 4-40 nylon screws up from the bottom. Hold them in place with two 4-40 nylon nuts on each screw. Tighten these down snugly.

2 x 4 x


Figure 3.
 
Step 4. Install two of the rubber bushings onto the mounting tabs of the HS-81 servo. These parts are located in the servo parts bag. These are the only components needed. These parts are polarized, meaning they can only be installed one way. If you have difficulty, try turning the part around.
Figure 4.
 
Step 5.
Install the gripper servo into the assembly as shown. Use two of the 4-40 nylon acorn nuts for this step.

2 x


Figure 5.
 
Step 6. Drill the servo horn with the 1/16" drill in the indicated positions. These holes are by the 2 and the 4 molded on the horn. Then install the driven gripper cross member to the servo using two of the .250" #2 tapping screws. Use care not to over tighten these.

2 x  


Figure 6.
 
Step 7. Attach the passive gripper cross members as instructed. Insert a .625" 4-40 nylon screw into the geared passive cross member, install two 4-40 nylon washers, insert it into the gripper main plate, add a passive gripper cross member, and finish it off with a 4-40 nylon acorn nut. This should not be tightened down fully. It should be as friction free as possible.

1 x  2 x  1 x 
Figure 7.
 
Step 8.
Install the four passive gripper cross members as shown. Use two .625" 4-40 nylon screws, four nylon washers, and two nylon acorn nuts for this step. Start with the .625" screw. Insert it into one of the passive cross members, add two nylon washers. Insert this into the gripper main plate, then add another cross member and the acorn nut. These should not be tightened down fully.

2 x  4 x  2 x 
Figure 8.
 
Step 9.
Install one of the gripper fingers as shown. Use a .625" 4-40 nylon screw inserted into the driven geared cross member, add a nylon washer, add the gripper finger, add two more washers, then finish it off with a nylon acorn nut. This should not be tightened down fully.

1 x  3 x  1 x 
Figure 9.
 
Step 10.
Attach the finger to the cross members at the front using a .625" 4-40 nylon screw, two nylon washers, and a nylon acorn nut. Start with a .625" nylon screw inserted into the top cross member, add a nylon washer, go through the gripper finger, add another nylon washer, go through the lower cross member, then finish it off with a nylon acorn nut. As before, not too tight.

1 x  2 x  1 x 
Figure 10.
 
Step 11.
Attach the other finger to the cross members as follows. Use two .625" 4-40 nylon screws, four nylon washers, and two nylon acorn nuts. For each position start with a .625" nylon screw inserted into the top cross member, add a nylon washer, go through the gripper finger, add another nylon washer, go through the lower cross member, then finish it off with a nylon acorn nut. As before, not too tight.

2 x  4 x  2 x 
Figure 11.
 
Step 12.
Now for something easy. Press the rubber fingers onto the gripper fingers as shown.


Figure 12.
 
Step 13.
Install the gripper onto the arm using two .250" #4 tapping screws as shown. Install the 12" servo extender cable onto the servo cable to finish the gripper installation.

2 x


Figure 13.