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parts for a totally useful robotic gripper

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Hello,

I must print a gripper by FDM (3D printing). the issue is that we want parts for the electromechanical actuation system.
-We’re considering of utilizing a servo motor and its management unit.

-There’s additionally a urgent cylinder, through which we’re considering of utilizing a pneumatic cylinder.

The gripper is product of metal, to be actuated with a clampling movement (and drive). If I need to construct a prototype, which parts do I must create and management the movement of the fingers?. This can be a two-finger gripper.

Nevertheless, I’m not positive if we should always couple the parts said above with every other element.
Any ideas or experiences with this example?

I thanks prematurely,
Finest regards,

 

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