Orex Gripper

Overview

I'm still working on adding a full write-up for this project, so here's an AI overview for now. OrexBot is a servo-actuated gripper built to mount onto a modular robotic arm platform. The fingers are 3D printed in TPU rather than a rigid filament, so they can flex slightly and conform to irregular objects while standing up to repeated open/close cycles better than a stiff PLA or PETG gripper would.

Actuation

The gripper is driven by a HiWonder HX-30 serial bus servo. Unlike a standard PWM hobby servo, a serial bus servo takes digital position, speed, and torque commands over a shared data line, which makes it easier to control precisely and to chain with other servos on the same arm without needing a dedicated signal wire for each one.

Design & Fabrication

The gripper was designed as a full assembly in SolidWorks, with some part work also done in OnShape. The focus throughout was mechanical efficiency, durability, and manufacturability — sizing the linkage and finger geometry so the servo has enough mechanical advantage to grip reliably, while keeping every part printable on an FDM printer without extensive supports or post-processing. Once modeled, the parts were fabricated via FDM 3D printing and assembled onto the arm.

Status

The gripper is complete and mounted on the modular robotic arm. A proper write-up with the actual design process, iterations, and photos/video is still on the to-do list.