Skip to main content

Gripper Specifications

General Dimensions​

Maximum distance between the jaws is 88mm. Maximum closing is when the two jaws are in contact.

architecture

Mechanism​

Starting at the 0° position of the motor J8 (gripper is fully open), the gripper is fully closed at 60° angle. The ball-bearing based slider block and rails along with bearings at the linkages ensure a very smooth motion, ideal for force feedback and bilateral control.

fully opened

The gripper in the fully open position (considered as 0°).

fully closed

The gripper in the fully open closed position (at 60° clockwise rotation).

Using your own End-Effector​

OpenArm design is flexible and allows you to easily attach your own custom end-effector (e.g., grippers, cameras, tools) with minimal changes to the existing structure.

🔄 What Needs to Change?​

To mount a different end-effector, all you need to do is replace the part J8_B. This part acts as the interface between the robotic arm and the end-effector.

Your custom J8_B should:

  • Match the hole pattern and dimensions of the original for seamless integration.
  • Include mounting features that match your end-effector's design.
  • Maintain mechanical strength and alignment.

📂 Reference Files​

To help you design your own J8_B, we provide downloadable CAD files.

These files can be imported into most CAD software and serve as a starting point for customization.

🧠 Design Considerations​

When creating your custom J8_B, keep the following in mind:

  • Mounting Alignment: Ensure that the center of mass and torque loads are balanced relative to the arm’s axis.
  • Cable Management: Add holes, channels, or clips for clean wiring if your end-effector needs power or signals.
  • Manufacturability: Keep the design simple enough for 3D printing or CNC machining.

🌐 Share Your Design!​

If you create a custom end-effector mount and would like to share it with the community, feel free to share it on our Discord channel!

💬 Need Help?​

If you run into issues while designing or mounting your end-effector, join our Discord and post on the #faq channel.