A simple parallel gripper, designed for easy integration with the SG90 or MG90S servos. It was used in my undergraduate project, which involved connecting a small robotic arm to a drone. The parallel gripper is not perfectly parallel, as the project was designed to handle objects with dimensions of 25-35mm. Therefore, the gripper opens at 35mm and then clamps the object, ensuring a complete grip.

You can use the 20x20 mm spacers on the back to fix the clamp anywhere you want. The holes are all 5mm away from the edges, designed for easy fixing with M2 screws.

M2 18mm nylon screws were used during assembly because they blend in well with the consumables, but this might make it hard to see the screws in the images.

Printable parts:

• 1 ServoGripper v2 nut (with a layer height of 0.2mm) strength
• 2 Gripperjointv2 (with a layer height of 0.2mm) strength
• 1 gear1 (servo) (layer height 0.12mm) - high precision
• 1 gear2 (screw) (layer height 0.12mm) - High precision
• 1 gripper-arm_nut (with a layer height of 0.12mm) filled with Gyroid
• 1 | Mirror y | gripper-arm_nut (layer height 0.12mm) Gyroid infill

Components:

• 9 M2 nuts
• 7 M2 screws that are at least 18mm in length.
• 2 M2 screws with a length of at least 8mm
• SG90 or MG90S servo

Installation steps:

• Place the M2 nut in all the M2 grooves of the jig's main body and "fingers". This can be done by pressing it on a flat surface
• Use M2 screws to fix the servo.
• If your servo is position-controlled rather than "continuous", it is highly recommended that you use the controller you are currently using to set it to its 0 position.
• Fix gear1
• Fix the gear2
• Fix the clamping joints on the remaining two "columns", as shown in the picture.
• Finally, fix the fingers of the gripper and complete the assembly.

After completing this, you can manually test the limits of the clamp. If you're using Arduino, use the servo-sweep example, but first change the two instances of 180 to 50, then gradually increase them until you get the desired clamp configuration. Remember to use a proper power supply instead of Arduino's power supply, otherwise Arduino might be damaged if the current is too high.