Robotic Gripper, Parallel-Jaw Design

I. Design Inspiration

Based on a parallelogram linkage mechanism and driven synchronously by dual gears, this gripper is specifically designed for the end-effector of small robotic arms. It delivers stable parallel opening and closing, making it ideal for STEM projects and robotics competitions while serving both as a demonstration tool for mechanical principles and a practical grasping device.

II. 3D Printing Process

The main frame, linkages, and gripper jaws are printed using PLA filament, while the gears can optionally be made from PETG to enhance wear resistance. A 0.3 mm clearance is left at the gear meshing points, and a 0.1 mm assembly allowance is provided in the hinge holes of the linkages. The design avoids large overhanging curved surfaces, with only minimal support structures added to the tip of the gripper.

III. Structure and Function

Dual gears drive the linkage mechanism in synchronization, ensuring that the gripper jaws remain parallel during opening and closing, resulting in more stable gripping. The servo motor is mounted at the rear of the body, and a single servo is sufficient to actuate the gripper movement.