Mechanical assembly¶
The repository's assembly manual, page by page: the jaws, the gear and magnet on the motor, the motor into the body, the connector and its wires, the driver and the thermistor, the calibration, the linear guide, the lid, the coupler connector, the cable. Read it once before you start: some steps cannot be undone without taking the body apart again. Static electricity damages the driver: touch earthed metal before you handle it, and hold it by the edges.
Download the assembly manual (PDF, 3 MB) The assembly video
The thermistor¶
The motor has a 100K NTC thermistor in its windings; the driver stops the gripper when it reads 75 °C. Put the bead between the windings and fix it with a drop of thermal cement, which sets hard and conducts the heat: thermal paste stays soft and lets the bead move, ordinary glue insulates it. Solder the leads to the driver's TERM and 3V3 pads and keep them clear of the rotor. The thermistor and the cement are in the Bill of materials, and the starter kit has the thermistor; Thermistor on the Spectral Micro site has photos of it on the board and in a gimbal motor.
Calibrate on the way¶
The motor is calibrated during the assembly, not before it: once the motor and the driver are in the body, the wires soldered and the thermistor in the windings, and before the linear guide with the jaws goes on (page 22 of the manual), connect the serial adapter and run Driver setup and first run. The racks would block the calibration's turns, so the order matters.
The cable¶
The gripper's cable is not in the box. The cable has the parts, the wiring diagrams for PAROL6 and PAR6, and the warning that the two are not interchangeable; the repository's cable guide is the original.
The fingers¶
The fin-ray and pinch fingers, and fingers of your own on the jaw plate: Jaws.
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