PhantomX Parallel AX-12 Gripper(No Servo)

The PhantomX Parallel AX-12 Gripper is a simple and easy-to-build solution for roboticists looking to pick up small objects. The Parallel AX-12 Gripper is a simple parallel actuating manipulator; keeping size, weight, and cost to a minimum and making it perfect for simple applications. Ideal for picking up small, lightweight objects such as sugar cubes, marbles, Legos, eyeballs, and very small badgers. The gripping strength is rated at 500g, and the included foam padding can be added or removed for different gripper characteristics. Plenty of gripper area means adding FSRs and other sensors is a breeze! The gripper employs a full featured AX series Dynamixel and is easily mounted to a hexapod, biped, robot arm, or your next robotic project. All required hardware for mounting to an AX-12 servo along with replacement swing arms is included. You will need to sand your gripper for smooth operation, more details available in the assembly guide.

Documentation:

• PhantomX Parallel AX-12 Gripper Assembly Guide

• PhantomX Parallel AX-12 Gripper 3D Solid Model (STEP & Inventor Formats)

Dynamixels can be queried give a 'Present Load' parameter so that users can detect when an object is grasped. We recommend setting the AX-12's compliance slope register to 128. This can be done in the arbotix code void setup routine with the following code:

//
ax12SetRegister(SERVO_ID, AX_CW_COMPLIANCE_SLOPE, 128);
ax12SetRegister(SERVO_ID, AX_CCW_COMPLIANCE_SLOPE, 128);
//