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Effector Lab

Effector library

Force-controlled parallel gripper, 48 mm stroke

A buildable electric parallel gripper with a brushless motor whose gripping force is set in software, with printed fin-ray or solid jaws.

Parallel gripperNativeEntrantApache-2.0

Loading the 3D preview

Facts

Kind
Parallel gripper
Class
Open hardware (buildable)
Capabilities
  • pinchholds a part between two opposed tips or pads
Mount
Adapter plate to the arm; upstream ships a coupler plate for a cobot tool flange.ISO pattern: ISO 9409-1-50-4-M6 (assumed, not read today) SourceSuggested adapter: Tool plate for an ISO 9409-1-50-4-M6 flange
  • The upstream coupler plate targets a cobot flange of this pattern; its bolt circle was not measured here.

Specifications

SpecValueBasisSource
Stroke48 mmSourcedSource
Gripping force (adjustable)5 to 80 NSourcedSource
Mass400 gSourcedSource
Actuationbrushless motor with a micro BLDC driver, force controlSourcedSource
Simulated jaw force limit50 NSourcedSource

Simulation

Status
NativeNative simulation model
Model source
Upstream MJCF.
Fidelity
Rigid model
Model
1 actuator · 414 g
Note
Two marker bodies removed: a camera frame and a TCP marker whose 1 m visual capsule carried 0.32 kg of default density.
Tournament
Entrant1 entrant spec in the effector tournament.

Compile and attach gate

Each entrant spec is built in the tournament's shared scene on every training part. One nominal episode per built part (no placement error, seed 0) is information, not part of the gate.

Force-controlled parallel gripper, 48 mm stroke

GATE PASSED
Primitive
pinch
Actuators
1
Mass
414 g
Reach
128.8 mm
Opening
47 mm
Training partGateHeld (nominal)Nominal outcomePenetrationWhy refused
BlockbuiltyesHeld, not registered0.06 mm
Steel slugbuiltnoSlipped during lift0.26 mm
Hex standoffbuiltyesHeld, not registered0.05 mm
L-bracketbuiltyesHeld, not registered0.07 mm
Flanged bushingbuiltyesHeld, not registered0.05 mm
Pipe teerefusedn/anot runn/aThe part is 44.2 mm across the closing axis; the gripper opens 47.0 mm.

Held at nominal: Block, Hex standoff, L-bracket, Flanged bushing.

Licence

Licence rating: green. Full attribution: see the credits page.

Files

FileTypeSizeLicenceChanged
cobot_coupler_plate.stepassets/effectors/library/gripper-2f-force-48/cad/cobot_coupler_plate.stepCAD235.7 kBApache-2.0as upstream
coupler_generic.stepassets/effectors/library/gripper-2f-force-48/cad/coupler_generic.stepCAD176.6 kBApache-2.0as upstream
jaw.stepassets/effectors/library/gripper-2f-force-48/cad/jaw.stepCAD94.8 kBApache-2.0as upstream
jaw_plate.stepassets/effectors/library/gripper-2f-force-48/cad/jaw_plate.stepCAD39.7 kBApache-2.0as upstream
solid_jaws_pinch.stepassets/effectors/library/gripper-2f-force-48/cad/solid_jaws_pinch.stepCAD91.0 kBApache-2.0as upstream
BOM.mdassets/effectors/library/gripper-2f-force-48/doc/BOM.mdDocumentation3.5 kBApache-2.0as upstream
finger_1.stlassets/effectors/library/gripper-2f-force-48/print/finger_1.stlPrint file392.1 kBApache-2.0as upstream
jaw_fin_ray_1.stlassets/effectors/library/gripper-2f-force-48/print/jaw_fin_ray_1.stlPrint file582.9 kBApache-2.0as upstream
jaw_fin_ray_3.stlassets/effectors/library/gripper-2f-force-48/print/jaw_fin_ray_3.stlPrint file345.3 kBApache-2.0as upstream
gripper-2f-force-48.xmlassets/effectors/library/gripper-2f-force-48/sim/gripper-2f-force-48.xmlSimulation file (derived)2.1 kBApache-2.0modified
gripper.objassets/effectors/library/gripper-2f-force-48/sim/meshes/gripper.objSimulation file (derived)44.7 kBApache-2.0modified
jaw1.objassets/effectors/library/gripper-2f-force-48/sim/meshes/jaw1.objSimulation file (derived)3.4 kBApache-2.0modified
jaw2.objassets/effectors/library/gripper-2f-force-48/sim/meshes/jaw2.objSimulation file (derived)3.3 kBApache-2.0modified

Each file links to its copy in the repository. Licence texts sit next to them in LICENSES/. What changed is on the credits page.

Upstream

Linked, not mirrored

What, and whySizeLink
Assembly manual: linked to keep the repository small.2.9 MBPinned file
Gripper body print file (23 MB): linked, not mirrored.23.7 MBPinned file
Lid print file (19 MB): linked, not mirrored.18.9 MBPinned file
Jaw carriage print file: linked to keep the repository small.1.1 MBPinned file
Body CAD (6 MB): linked, not mirrored.6.1 MBPinned file