The previous design(I call it SCS3045M_version):
SCS3045M_version
which is basically ok if your target object is not heavy and if the object is hard material.
Still there are some issue:
SCS3045M cannot use current control as kind of torque control and may have an issue when the gripper tries to grab a soft material(It may crush the object).
It uses several CNC milling parts which raises the cost of the gripper manufacturing.
The weight of the gripper is relatively light(about 340g) but still occupies over half of the payload of UFACTORY Lite 6.
For these issue, I'm building a new gripper design using Dynamixel XL330-M288-T which can use current control.
The weight will be lighter by reducing the number of linear rails from two to one and in addition I changed the design to use more 3D printed parts which would be easy and cheap to make this gripper.
The previous design(I call it SCS3045M_version): SCS3045M_version
which is basically ok if your target object is not heavy and if the object is hard material. Still there are some issue:
For these issue, I'm building a new gripper design using Dynamixel XL330-M288-T which can use current control. The weight will be lighter by reducing the number of linear rails from two to one and in addition I changed the design to use more 3D printed parts which would be easy and cheap to make this gripper.
XL330_version
Which is not complete and need some more works.