Graboid Series Articulated Grippers

Spec Sheet
v1.0

www.RoadNarrows.com
Collin Horvat

Graboid Series
Articulated Grippers
Spec Sheet V1.0

Author
Collin Horvat
RoadNarrows Robotics LLC
1151 Eagle Drive #140
Loveland, Colorado USA 80537
1-800-275-9568

Trademark Acknowledgements
Graboid is a trademark of RoadNarrows LLC. www. Roadnarrows.com
Dynamixel is a registered trademark of Robotis. www.robotis.com
Futaba is a registered trademark of Futaba. www.futaba-rc.com

Legal Notice
The author of this document has used his best effort in preparing and validating the accuracy
contained within. The author and RoadNarrows LLC make no warranty of any kind,
expressed or implied, with regard to this documents accuracy. The author and RoadNarrows
LLC are not liable nor take any responsibility for any errors found in this document.
RoadNarrows LLC reserves the right to make changes to this document at any time and
without notice.
RoadNarrows LLC will not assume liability for injury, loss or damage, direct or consequential,
of any kind from the use or inability to use RoadNarrows' products.

Caution
Use only under adult supervision
Beware of moving parts
Please exercise caution and do so at your own risk

2011 RoadNarrows

www.RoadNarrows.com

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Graboid Series
Articulated Grippers
Spec Sheet V1.0

Table of Contents
1 Introduction..............................................................................................................................4
2 Graboid Series D.....................................................................................................................5
2.1 Degree of Freedom (DOF).......................................................................................5
2.1.1 Pitch................................................................................................................5
2.1.2 Finger Rotation................................................................................................6
2.2 Dimensions.............................................................................................................7
2.3 Weight...................................................................................................................8
2.4 Holding Torque.......................................................................................................8
2.5 Speed....................................................................................................................8
2.6 Power Requirements...............................................................................................8
2.7 Recommended Controllers.......................................................................................8
2.8 Part Material...........................................................................................................8
2.9 Bill Of Material........................................................................................................9
3 Graboid Series F...................................................................................................................10
3.1 Degree of Freedom (DOF).....................................................................................10
3.1.1 Pitch..............................................................................................................10
3.1.2 Finger Rotation...............................................................................................11
3.2 Dimensions...........................................................................................................12
3.3 Weight.................................................................................................................13
3.4 Holding Torque.....................................................................................................13
3.5 Speed...................................................................................................................13
3.6 Power Requirements.............................................................................................13
3.7 Recommended Controllers.....................................................................................13
3.8 Part Material.........................................................................................................13
3.9 Bill Of Materials.....................................................................................................14
4 Contact..................................................................................................................................15

2011 RoadNarrows

www.RoadNarrows.com

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Graboid Series
Articulated Grippers
Spec Sheet V1.0

1 Introduction
Graboid Series is RoadNarrows Robotics' solution for those looking for a simple, low-cost
gripper for their robotic needs. Built around commonly used servos, this gripper offers two
degrees of freedom, wrist up/down, and gripper open/close.
The Graboid Series F uses the Futaba S3003 servos and is compatible with any controller
that can control Futaba servos. The Graboid Series D uses the AX-12A actuators of Robotis
that allow a higher torque and give feedback on their position and applied torque.
The Graboid Series grippers are provided as kits (with or without servos) or already built.
Sensors, such as Infra Red distance sensors, can be added to the grippers in order to
customize your robot and to make it easy to control the distance from the object to pick up.
RoadNarrows Robotics LLC has engineering and rapid prototyping (3D printing) capabilities
to make custom fingers for your specific applications. Please feel free to contact us for any
custom designs.

Graboid Series D
Dynamixel actuators

2011 RoadNarrows

Graboid Series F
Futaba servos

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Graboid Series
Articulated Grippers
Spec Sheet V1.0

2 Graboid Series D
The Graboid Series D uses the AX-12A actuators of Robotis that allow a higher torque and
give feedback on their position and applied torque.

2.1

Degree of Freedom (DOF)

2.1.1

Pitch

The Graboid Series D has a total pitch of 180o, with 90o rotation up and down.

2011 RoadNarrows

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Graboid Series
Articulated Grippers
Spec Sheet V1.0

2.1.2

Finger Rotation
The Graboid Series D has a maximum finger opening of 120o, with 60o rotation
per finger.

2011 RoadNarrows

www.RoadNarrows.com

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Graboid Series
Articulated Grippers
Spec Sheet V1.0

2.2

Dimensions
All units are in mm.

2011 RoadNarrows

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Graboid Series
Articulated Grippers
Spec Sheet V1.0

2.3

Weight
Graboid Series D with actuators: 156g (5.5oz, 0.3lbs)
Graboid Series D without actuators: 46g (1.6oz, 0.1lbs)

2.4

Holding Torque
AX-12A: 15kgf-cm @ 12V 1.5A

2.5

Speed
AX-12A: 126rpm (No Load)

2.6

Power Requirements
AX-12A: 9-12V
AX-12A: 1.5A

2.7

Recommended Controllers
The Graboid Series D can be controlled by any Robotis Dynamixel AX-12A
compatible controller. Examples include the following
CM-700
CM-510
Compatible PC software

2.8

Part Material
ABSplus
Product Name: P420 ABS Model
Chemical Family: Synthetic Thermoplastic Polymer

2011 RoadNarrows

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Graboid Series
Articulated Grippers
Spec Sheet V1.0

2.9

Bill Of Material

Graboid Series D
Part Number

Part

Quantity

Picture

Jack001-d

Gripper Interface

Jack002-d

Servo Mount

Jack003-d

Dynamixel AX-12A

Jack004-d

Spur Gear Finger-Left

Jack005-d

Spur Gear Finger-Right

Jack006-d

Foam-Pad

Jack007-d

M2 x 6mm Phillips Pan Head Screw

20

Jack008-d

M2 Nut

12

Jack009-d

M3 x 10mm Phillips Pan Head Screw

2011 RoadNarrows

www.RoadNarrows.com

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Graboid Series
Articulated Grippers
Spec Sheet V1.0

3 Graboid Series F
The Graboid Series F uses the Futaba S3003 servos and is compatible with any controller
that can control Futaba servos.

3.1
3.1.1

Degree of Freedom (DOF)

Pitch

The Graboid Series F has a total pitch of 180o, with 90o rotation up and down.

2011 RoadNarrows

www.RoadNarrows.com

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Graboid Series
Articulated Grippers
Spec Sheet V1.0

3.1.2

Finger Rotation
The Graboid Series F has a maximum finger opening of 210o, with 105o rotation
per finger.

Gripper Fully Open

2011 RoadNarrows

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Graboid Series
Articulated Grippers
Spec Sheet V1.0

3.2

Dimensions
All units are in mm.

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Graboid Series
Articulated Grippers
Spec Sheet V1.0

3.3

Weight
Graboid Series F with servos: 130g (4.5oz, 0.3lbs)
Graboid Series F without servos: 28g (0.9oz, 0.1lbs)

3.4

Holding Torque
S3003: 3.2kgf-cm @ 4.8V
4.1kg-cm @ 6V
Compression Spring: 0.43kg/cm (2.4lbs/in)
Note: The actual holding torque is directly related to the strength of the
compression spring.

3.5

Speed
S3003 (no load): 0.23 sec/60degrees @ 4.8V
0.19 sec/60degrees @ 6V

3.6

Power Requirements
Voltage: 4.8-6V

3.7

Recommended Controllers
The Graboid Series F can be controlled by any Futaba compatible controllers.

3.8

Part Material
ABSplus
Product Name: P420 ABS Model
Chemical Family: Synthetic Thermoplastic Polymer

2011 RoadNarrows

www.RoadNarrows.com

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Graboid Series
Articulated Grippers
Spec Sheet V1.0

3.9

Bill Of Materials

Graboid Series F
Part Number

2011 RoadNarrows

Part

Quantity

Picture

Jack001-f

Gripper Interface

Jack002-f

Futaba S3003 Servo Bulk

Jack003-f

Servo Mount

Jack004-f

Spur_Gear 1

Jack005-f

Spur_Gear 2

Jack006-f

Gripper-Right

Jack007-f

Gripper-Left

Jack008-f

M2.5 x 10mm Pan Head Screw

Jack009-f

M3 x 16mm Pan Head Screw

Jack010-f

M2.5 Hex Nut

10

Jack011-f

M3 Hex Nut

10

Jack012-f

Servo-Horn

Jack013-f

M2.5 x 12mm Pan Head Screw

Jack014-f

Gripper-Spring

Jack015-f

M3 x 12mm Nylon Pan Head Screw

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Graboid Series
Articulated Grippers
Spec Sheet V1.0

4 Contact
Please feel free to contact RoadNarrows LLC with any questions regarding Graboid products.

Mailing & Shipping Address

RoadNarrows LLC
1151 Eagle Drive #140
Loveland, CO U.S.A. 80537-8020
Colorado Office
RoadNarrows LLC
125 East 5th Street #102
(back alley entrance)
Loveland, CO U.S.A. 80537-5639
Phone: 1-800-275-9568
Fax: 1-800-275-9534
Inquiries: oneway@roadnarrows.com
Sales: sales@roadnarrows.com
Support: support@roadnarrows.com

www.RoadNarrows.com

2011 RoadNarrows

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