Step 7.1: Gripper Sub-Assembly

1. Attach J8_A to J8_B using 3 M3x6 bolts

2. Attach rail_connector to the J8 motor using 6 M3x8 bolts. Ensure that the flanges of rail_connector are aligned to the two Power+CAN ports of J8

3. Carefully insert bearings MR126ZZ into swivel_link. Note that two bearings need to be inserted from opposite directions.

4. Connect swivel_rotor to the rotor of J8 using 4 M3x8 bolts.

5. Attach the two swivel_link components to the swivel_rotor using step bolts DBSY4-5-4. Make sure the bearings are oriented such that the fully exposed (open) side of each bearing faces toward the swivel_rotor, as shown in the image. This orientation ensures proper alignment and freedom of movement for the linkages.

6. Attach the linear guide to rail_connector using 4 M3x5 bolts.

7. Secure the rail_CNC_attachment to the slider blocks of the linear guide using four low-profile bolts KBBS3-6. Ensure that the rail_CNC_attachment extends in the same direction as the swivel_link. This orientation simplifies the alignment and final assembly steps.

8. Connect the two swivel_link components to the rail_CNC_attachment using step bolts DBSY4-5-4.

9. Attach the jaws to the rail_CNC_attachment using 4 low-profile bolts KBBS3-6. Ensure that the jaws are properly aligned for perfect assembly.

10. Mount the subassembly created in Step 1 to the rear face of the J8 motor using four M3×8 bolts.

• When assembling the right arm, ensure the J8_A part is aligned with the right jaw.

• When assembling the left arm, align J8_A with the left jaw.

The alignment ensures proper mechanical coupling and correct orientation of the jaws during operation, as indicated by the arrows in the image.

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This completes the Gripper Sub-Assembly.

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For the gripper surface, we recommend using the following 3M tape:
https://www.amazon.com/gp/product/B0093CQPW8/ref=ppx_yo_dt_b_search_asin_title?ie=UTF8&th=1