Two-finger linkage gripper of a cobot arm

A cobot maker's electric gripper: two fingers on parallel linkages, one motor.

Parallel gripperNativeEntrantBSD-3-Clause

Loading the 3D preview

Facts

Kind: Parallel gripper
Class: Simulation model of a product (generic name)
Capabilities: pinchholds a part between two opposed tips or pads
Mount: The arm maker's tool flange (6 x M6 and one 6 mm locating hole).ISO pattern: none (own interface)
Six-hole flange: an adapter to ISO patterns is on the generator's list, not built yet.

Specifications

Spec	Value	Basis	Source
Fingers	2, parallel four-bar linkages	Derived	derived from the files or the model

Simulation

Status: NativeNative simulation model
Model source: Upstream MJCF.
Fidelity: Rigid model
Model: 1 actuator · 751 g
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.

Two-finger linkage gripper of a cobot arm

GATE PASSED

Primitive: pinch
Actuators: 1
Mass: 751 g
Reach: 169.6 mm
Opening: 88.9 mm

Training part	Gate	Held (nominal)	Nominal outcome	Penetration
Block	built	yes	held	0.49 mm
Steel slug	built	yes	held	0.37 mm
Hex standoff	built	yes	held	0.21 mm
L-bracket	built	yes	held	0.60 mm
Pipe tee	built	no	Hit the table	0.00 mm
Flanged bushing	built	no	Hit the table	0.00 mm

Held at nominal: Block, Steel slug, Hex standoff, L-bracket.

Licence

BSD-3-ClauseCovers the simulation model (MJCF and meshes). Licence text

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

Files

File	Type	Size	Licence	Changed
gripper-2f-linkage-cobot.xmlassets/effectors/library/gripper-2f-linkage-cobot/sim/gripper-2f-linkage-cobot.xml	Simulation file (derived)	5.9 kB	BSD-3-Clause	modified
base_link.objassets/effectors/library/gripper-2f-linkage-cobot/sim/meshes/base_link.obj	Simulation file (derived)	73.9 kB	BSD-3-Clause	modified
left_inner_knuckle.objassets/effectors/library/gripper-2f-linkage-cobot/sim/meshes/left_inner_knuckle.obj	Simulation file (derived)	5.5 kB	BSD-3-Clause	modified
left_outer_knuckle.objassets/effectors/library/gripper-2f-linkage-cobot/sim/meshes/left_outer_knuckle.obj	Simulation file (derived)	3.4 kB	BSD-3-Clause	modified
right_inner_knuckle.objassets/effectors/library/gripper-2f-linkage-cobot/sim/meshes/right_inner_knuckle.obj	Simulation file (derived)	5.6 kB	BSD-3-Clause	modified
right_outer_knuckle.objassets/effectors/library/gripper-2f-linkage-cobot/sim/meshes/right_outer_knuckle.obj	Simulation file (derived)	3.5 kB	BSD-3-Clause	modified

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

Upstream repository, commit 62ab00f2