It looks like you're new here. If you want to get involved, click one of these buttons!Sign In Register
The original design of the robot used a metal flange to attach the gripper to the 6th axis motor. In the spirit of the design I wanted to find an alternative. I redesigned the gripper top and lower half to clamp the shaft when assembled. It uses two screws and nut traps located on either side of the gripper half. I debated using thermal inserts but it really didn't seem necessary.
The clamping force is very strong and it keeps the gripper nicely centered about the axis of the motor. If a stepper with a long shaft is used the shaft might stick out to far and collide with the grippe gear.