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Effector Lab

Effector library

Angular-jaw gripper of an open hobby arm

The stock gripper of the most-built open hobby arm: a fixed jaw and a moving jaw on the wrist servo.

Angular-jaw gripperNativeEntrantApache-2.0

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Facts

Kind
Angular-jaw gripper
Class
Open hardware (buildable)
Capabilities
  • pinchholds a part between two opposed tips or pads
Mount
The arm's wrist-roll servo (no ISO flange).ISO pattern: none (own interface)
  • The jaw is built around the wrist servo.

Specifications

SpecValueBasisSource
Jaw servo stall torque (12 V)30 kg cmAssumedour assumption, not read from a source

Simulation

Status
NativeNative simulation model
Model source
Upstream MJCF (the gripper of the arm model; wrist roll joint removed).
Fidelity
Rigid model
Model
1 actuator · 113 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.

Angular-jaw gripper of an open hobby arm

GATE PASSED
Primitive
pinch
Actuators
1
Mass
113 g
Reach
106.4 mm
Opening
n/a
Training partGateHeld (nominal)Nominal outcomePenetrationWhy refused
BlockbuiltnoPushed away on close0.04 mm
Steel slugbuiltyesHeld, not registered0.18 mm
Hex standoffbuiltnoPushed away on close0.07 mm
L-bracketbuiltnoPushed away on close0.06 mm
Pipe teebuiltnoDropped during hold0.93 mm
Flanged bushingbuiltyesHeld, not registered0.40 mm

Held at nominal: Steel slug, Flanged bushing.

Licence

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

Files

FileTypeSizeLicenceChanged
moving_jaw.stepassets/effectors/library/gripper-angular-jaw-hobby/cad/moving_jaw.stepCAD620.8 kBApache-2.0as upstream
moving_jaw.stlassets/effectors/library/gripper-angular-jaw-hobby/print/moving_jaw.stlPrint file563.1 kBApache-2.0as upstream
gripper-angular-jaw-hobby.xmlassets/effectors/library/gripper-angular-jaw-hobby/sim/gripper-angular-jaw-hobby.xmlSimulation file (derived)4.1 kBApache-2.0modified
Fixed_Jaw_Collision_1.objassets/effectors/library/gripper-angular-jaw-hobby/sim/meshes/Fixed_Jaw_Collision_1.objSimulation file (derived)1.1 kBApache-2.0modified
Fixed_Jaw_Collision_2.objassets/effectors/library/gripper-angular-jaw-hobby/sim/meshes/Fixed_Jaw_Collision_2.objSimulation file (derived)15.2 kBApache-2.0modified
Moving_Jaw_Collision_1.objassets/effectors/library/gripper-angular-jaw-hobby/sim/meshes/Moving_Jaw_Collision_1.objSimulation file (derived)841 BApache-2.0modified
Moving_Jaw_Collision_2.objassets/effectors/library/gripper-angular-jaw-hobby/sim/meshes/Moving_Jaw_Collision_2.objSimulation file (derived)581 BApache-2.0modified
Moving_Jaw_Collision_3.objassets/effectors/library/gripper-angular-jaw-hobby/sim/meshes/Moving_Jaw_Collision_3.objSimulation file (derived)12.8 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

Notes