Advanced Robotics & Kinematics · Advanced

Force-Limited Parallel Gripper

Two-finger gripper closing to a target force without damaging soft objects. Two-finger gripper closing to a target force without damaging soft objects.

Components

  • MCU
  • two actuators
  • force sensors

Build steps

  1. Inventory the board, actuators, sensors, and power rails listed for R09.
  2. Build and inspect the low-voltage wiring against the supplied connection diagram before connecting actuators.
  3. Flash the firmware, run the startup self-check, and record the printed board and firmware version.
  4. Calibrate the sensors and limits, then run the acceptance tests at the lowest safe energy level.

Test and expected result

Calibrate force sensor, test grip repeatability, and verify release on sensor fault.

Safety and limits

Low-force only; include a physical release.

Download Arduino source code

Download connection diagram SVG

Force-Limited Parallel Gripper project illustration