Stone Gripper

After building an autonomous gripper for my Cyberbrick forklift that can grip objects horizontally, I still needed a gripper that could also lift objects vertically. Since I primarily want to use it to grip stones for my Fix-Stone-House, I named it Stone Gripper.

The basic module is similar to the Cyberbrick forklift, which is why this model also lacks the hubcaps, chains, and non-driven wheels. You must take these from the Cyberbrick Original Stacker file.

The secret of this gripper is that it has a compartment for weights above the electronics compartment. I used 13mm steel balls and M3 nuts. The nuts are only there to prevent the steel balls from rolling back and forth while driving.

However, the gripper should remain very compact. Therefore, the Cyberbrick board for the on/off switch was replaced by wiring (see picture). The servos were also too large for me. I removed the board from a 360-degree servo and connected a small N20 motor. Please do not use a board from a 180-degree servo, as it expects feedback from the potentiometer and therefore responds much faster.

The drive motors were also replaced by N20 motors.

Please make sure to use N20 motors with the lowest possible speed, e.g., 30 rpm is ideal, otherwise the gripper will be too fast and imprecise.

The gripper arm is only slipped onto the motor. It can be modified very quickly for your own applications.

For gripping, I used sealing rubbers for windows. Of course, you can also print something from TPU.