机械臂手腕强化

Robotic Arm Wrist Reinforcement

2024-04-16 04:20:03

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Summary

First off: Props to LimpSquid for the original design

However, once I assembled it, I realized the entire gripper claw is hanging on by only the shaft of the servo, which creates wobble and a weak link.

So I've remixed both ends, between the Arm (LimpSquids 3 of 3) and the Gripper (LimpSquids 1 of 3). The modification includes adding an interlocking ring between the ends, to allow the servo to only handle rotation, and not have the strain of the objects weight, directly on its output shaft. To accommodate this, I also modified the Arm side, to create a screw on cap, for mounting the servo after the "wrist" mod.

There are 2 pieces to the "Arm" side, and 1 piece to swap on the "gripper" side for this mod, so you'll be printing all 3 STL's attached.

Print Settings

Supports:
Yes

Post-Printing

Notes

1) You might need to lightly sand the gripper end of the rings, to make the fit snug but easily rotate-able inside the arm side.

2) The Arm-side, Use heat-press threaded inserts (M3 x 6 x 5mm) on the top of the larger of the 2 parts (Part 1 of 2), which will be used to mount the 2 pieces of the arm-side together. (Make sure they are flush/flat)

3) Arm side Assembly: Slide the servo into place, put the cap over it and screw in, using 2 x M3 x 16mm screws. Screw the servo into place with (M3 x 8mm) x 4.

4) Gripper side Assembly: Recommend to use the round servo horn mount (the 20mm diameter disk). Mount the round servo horn to the piece first/screw in so that the screws do not protrude past the disk. I used M3 x 6mm socket cap screws through the back, and pre-drilled out the round-horn's holes, to be a little bit smaller than the M3, so it threads in. (Size 40 dill bit).

I've installed it and so far, it appears to be working wonderfully.