This repository contains the latest CAD files for the gripper subsystem of Team Deimos' Mars Rover. The design is modular, mechanically elegant, and continuously updated to reflect final changes.
- Multiple CAD files for individual gripper components
- Final assembly file:
final_assembly.SLDASM - To view the complete gripper:
- Download all files in this repo
- Open
final_assembly.SLDASMin SolidWorks - Refer to the demonstration video for expected motion and appearance
This gripper is designed for independent claw control using rack-and-pinion actuation, with each claw powered by its own motor. The system is optimized for modularity, compliance, and terrain adaptability.
- Simple, robust parallel motion
- Modular design for easy integration with the rover arm
- Each claw can move up and down independently
- Vertical motion decoupled from gripping action
- Ensures pure vertical motion of the fingertip
- Spring provides compliance and energy storage
- Mechanical stop prevents over-extension
- Maintains parallel orientation of the fingertip
- Enables stable, line-based contact with objects
- Fingertip can passively tilt into a scooping pose
- Roller joint contacts the ground for smooth sliding
- Transitions from pinching to scooping seamlessly
- Holes in the plate likely serve weight reduction and manufacturing ease
This gripper embodies a balance of mechanical simplicity, functional versatility, and field reliability. Every linkage and motion path is chosen to ensure robust performance in Martian terrain, while remaining easy to manufacture and maintain.
This repo is actively maintained. Feel free to open issues or pull requests for improvements, suggestions, or integration queries.
Made with grit and gears by Team Deimos – IIT Mandi