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| Crayonbot Gripper |
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The gripper works by pressing a bar with a length of rubber on
it against a crayon or pen inside a tube. Here it is shown in
its fully open and closed positions.
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A servo pulls on the bar, and the bar is pressed against the crayon
by the action of two .35" swingarms that begin at 30 degrees when open.
The bar grips progressively harder as the arms approach 90 degreees.
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I began fabrication by hammering a piece of aluminum into a U-channel
and slicing some automotive rubber vacuum hose along its length.
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A vise, a hacksaw, a dremel, and a drill press were my friends for
shaping the gripper bar.
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I tried to measure and drill the holes for the swingarms as accurately
as I could, since I knew that would help apply longitudinal pressure evenly.
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