More Grippers

I'm constantly amazed at the capabilities of my Sherline CNC milling machine. Tonight I put a 1/16" end mill on it, and managed to machine a couple gears. The gripper needs some gears for the wrist rotator, and one of them ideally should be molded right in as part of the large round mounting base for the wrist. I didn't know how I was going to do it, but I do now.

The first picture, to the top right, shows a gear machined from 1/8" Delrin, with a D-hole cut in the middle for the motor shaft (Solarbotics GM-14a, which has a 3mm D-hole shaft).

The second picture, on the left, shows a gear milled into 1/4" Delrin, which is how I will build the gear with the attached mounting cylinder. both gears are the same size, which is a little over 5/8" outside diameter. Finally, the bottom right picture shows the wrist motor mounted in the gripper, with the drive gear attached.

*The BrainBot project is directed and funded by the Brain Engineering Lab and Neukom Institute