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Jaws

The jaws bolt to the two carriers on the rail and are yours to adapt. The product repository has three designs, all in Gripper jaws attachment; each file is one jaw, mirrored in the slicer for the other side, except the solid jaw, which has a mirrored file.

Design File Use
PETG body with a glued-on TPU pad MSG_JAW_TPU_GLUE the recommended jaw: the soft pad deforms around the object and holds it better
Solid jaw MSG_solid_jaw, MSG_solid_jaw_mirror one part, quick to print
Hollow jaw MSG_JAW_HOLLOW lighter, and suited to multi-colour prints
The jaw body, with the mounting holes for the carrier
Figure 4.6: The jaw body, with the mounting holes for the carrier.

The TPU jaw

The TPU jaw: a PETG body (black) and a TPU pad (yellow)
Figure 4.7: The TPU jaw: a PETG body (black) and a TPU pad (yellow).

Print the body in PETG with your usual settings and the pad in TPU with 16 % infill, no top or bottom layers and two walls, for the softest pad. Then glue the pad to the body with ordinary super glue, in the orientation the pictures show: a pad glued the wrong way round leaves the jaws facing the wrong direction.

Apply super glue Press the pad on Check the orientation

Sponge pads

A strip of 1 mm sponge tape (30 mm wide, in the BOM) on the gripping face of any jaw improves the hold on hard and smooth objects a great deal. Cut it to length, peel the backing and press it on.

Your own jaws

Keep the carrier's hole pattern from one of the designs and shape the rest for your objects. Long jaws multiply the lever arm on the carriers: keep them short and stiff, and remember that the grip force is set at the jaw faces, not at the rail.

Custom jaws on a PAR6

On a PAR6, custom jaws must keep the size of the original jaws: no longer, no wider and no thicker. The PAR6 software works with the gripper's original dimensions (its collision model of the tool and the tool centre point), so a larger jaw reaches where the robot does not expect it.

Calibrate after changing the jaws

The gripper calibration finds the end stops with the jaws fitted; jaws that meet earlier or later than the old ones change where 255 is. Calibrate again after a change, which happens at the next power-up anyway.

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