A parallel-jaw gripper with a 20T module-1 involute pinion on a standard 180° servo driving two opposed racks; each rack carries a jaw sliding on its own Ø5 guide rod, giving 0–60 mm symmetric opening, replaceable fingertip pads and 4×M4 flange mounting holes on the back.
| Opening range | 0 - 60 mm |
|---|---|
| Servo rotation for full travel | 171.9° |
| Pinion | m=1, z=20, d_p=20 mm, b=8 mm |
| Rack | m=1, 41 mm, 13 teeth |
| Grip force per jaw | ~50 N (1.0 Nm servo) |
| Body | 90 x 50 x 30 mm (25 base + 5 cover) |
| Flange holes | 4x M4 on 76 x 38 mm pattern |
| Overall size | 90.5 × 50.5 × 97 mm |
| Parts | 23 |
| Material | Aluminium (6061) |
| Mass (calculated) | 391.6 g |
| General tolerance | ± 0.2 mm (ISO 2768-m) |
| Process | machining |
| 12× | Socket head cap screw M3x8 ISO 4762 |
| 1× | Socket head cap screw M3x6 ISO 4762 |
| 01 | body 90 × 50 × 25 mm · 165.6 g |
| 02 | cover 90 × 50 × 5 mm · 49.7 g |
| 03 | pinion 21.92 × 21.92 × 8 mm · 6.0 g |
| 04 | servo 55 × 20 × 42 mm · 80.0 g |
| 05 | jaw_right 46 × 30 × 60 mm · 33.8 g |
| 06 | jaw_left 46 × 30 × 60 mm · 33.8 g |
| 07 | pad_right 5 × 20 × 20 mm · 4.8 g |
| 08 | pad_left 5 × 20 × 20 mm · 4.8 g |
| 09 | guide_rod_right 86 × 5 × 5 mm · 4.6 g |
| 10 | guide_rod_left 86 × 5 × 5 mm · 4.6 g |
| 11 | cover_screw_1 5.5 × 5.5 × 11 mm · 0.3 g |
| 12 | cover_screw_2 5.5 × 5.5 × 11 mm · 0.3 g |
| 13 | cover_screw_3 5.5 × 5.5 × 11 mm · 0.3 g |
| 14 | cover_screw_4 5.5 × 5.5 × 11 mm · 0.3 g |
| 15 | servo_screw_1 5.5 × 5.5 × 11 mm · 0.3 g |
| 16 | servo_screw_2 5.5 × 5.5 × 11 mm · 0.3 g |
| 17 | servo_screw_3 5.5 × 5.5 × 11 mm · 0.3 g |
| 18 | servo_screw_4 5.5 × 5.5 × 11 mm · 0.3 g |
| 19 | pad_screw_r1 11 × 5.5 × 5.5 mm · 0.3 g |
| 20 | pad_screw_l1 11 × 5.5 × 5.5 mm · 0.3 g |
| 21 | pad_screw_r2 11 × 5.5 × 5.5 mm · 0.3 g |
| 22 | pad_screw_l2 11 × 5.5 × 5.5 mm · 0.3 g |
| 23 | pinion_screw 5.5 × 5.5 × 9 mm · 0.3 g |