PhantomX Parallel Gripper Assembly Guide
Tools Needed
- 1.5 mm Hex Driver
- Pliers
Kit Parts List
Gripper Rail
Gripper Hand
Gripper Arm
Plastic Bushing
Foam Pad
The following hardware is required to build the kit. You may have received extra parts with your kit.
Hex Nut
M2
Hex Head Bolt
M2x8
Build Steps
Pre Step: Nuts for AX-12A
Pre Step: Servo Centering
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AX-12/AX-18 DYNAMIXEL Servos can move up to 300° . When the servo is directly in the middle of this 300° range, it is considered to be 'centered'. You will be able to tell that the servo is centered when the single notch on the servo casing matches up with the single notch on the servo horn. The instructions in this guide assume that all of your servos are 'centered'. If the servos are not centered when attached to the brackets as shown in this guide, your robot will not work correctly. If your servo horn is not centered, you can move it by hand or use the DynaManager to center the servo. |
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Pre Step: Sand your Gripper Rails
For proper functionality of your gripper, please pay attention to this guide. The gripper rails are designed tightly, and you may cause irreversible damage to your gripper if you do not sand it in advance.
Getting Started
Mind your Servo ID #
If you are building this gripper as part of a separate kit, mind the assembly instructions for that kit to identify the Servo ID # you will be building on. In some cases you will need to assemble brackets that will attach the servo to the kit before completing these instructions, as the gripper is large enough to impede the attachment of certain brackets.
Step 1: Prep your Servo
Hex Socket Head Bolt
M2 x 8
Hex Nut M2
Nut M2
- Prep your Servo with 4 x M2 Nuts to the left and right of the horn, as shown.
- Mount the Gripper Rail to the Servo with 4x M2*8 Bolts
Step 2: Prep your Bushings
Plastic Bushing
M2
Hex Socket Head Bolt
M2 x 8
- Build 4 x Bushing Sets using 4 x Plastic Bushings and 4 x M2*8 Bolts
- To accomplish this, hold the bushing steady with pliers, making sure to not crush it. Using your driver, screw the bolt into the bushing carefully.
Step 3: Build the Gripper Hands
Bolt w/ Bushing
M2 x 8
- Build 2 x Gripper Hand Assemblies by tapping into the hole on the bottom of a Gripper hand with a Bushing Set through one hole on one Gripper Arm.
- Do not tighten completely. Leave it loose enough to allow for the Bushing to sit in the arm and spin.
- Note the orientation of Gripper Arms to Hands. If you have them oriented incorrectly, this could result in improper function and breakage.
- Apply 1 x Foam Pad to each Gripper Hand.
| In order for the gripper to be assembled correctly, please pay close attention to the orientation of the Gripper Arms when attaching them to the Gripper Hands and to the servo. Putting them on in reverse could result in breaking the Gripper Arms and/or Gripper Hands. |
Step 4: Assemble the Gripper
Bolt w/ Bushing
M2 x 8
- Slide both Gripper Hand Assemblies onto the Gripper Rail from each side and mount the Gripper Arms to the Servo Horn using the final 2 x Bushing Sets
- Remember not to tighten completely, just enough for the Bushing to sit in the Arm and spin.
- Attach to your final project.
| Note the orientation of the Servo Horn before attaching arms. If it is not set to center, operation of the Gripper can result in improper function and breakage. |