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Mark III Gripper and Interface Arms

The gripper and interface arms from version 2 are NOT compatible with the Mark III design. I learned this the hard way... hehe.  I built both tools expecting to slot into my R-5.  However, they are too long and the shoulder hub and servo mounts have been totally changed in Mark III.  Mr. Baddeley was kind enough to publish the version 2 designs.  I took these and modded them to work with the Mark III body.  This included shortening both arms by 20 mm.  I took ten millimeters from both shafts on the gripper tool and twenty millimeters from the fat part of the interface tool.  The upshot is that you can still use the unaltered version 2 pieces in this mod.

Here is the interface arm mod on the print bed.  The changed parts from top left to bottom right are (and these are my names... not sure what Baddeley calls them).  Tool servo mount, large arm pieces, shoulder servo mount, shoulder hub, arm spacer.  

[Image: fullsizeoutput-20ea.jpg]

The spacer was needed to keep the tool from hitting the body when the arm extended.  Additionally the shoulder is now in three pieces to it can print with minimal/no supports.  The whole thing is assembled with 20 and 25mm M4 screws with flat 2mm thick square nuts.

[Image: fullsizeoutput-20eb.jpg]

[Image: IMG-4292.jpg]

Grr... can't post both videos in one post... 

I'll post the .stl files for these tools if anyone is interested.


Here is the interface arm video.


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Mark III Gripper and Interface Arms - by Eebel - 09-19-2019, 03:20 PM

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