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Hexapod Grip Arm

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This page is currently in a DRAFT state. Do not attempt to build the Grip Arm project yet using these instructions.

What is the Hexapod Grip Arm?

The Hexapod Grip Arm is an open source 3D printed project that provides an arm with a claw end-effector. It's designed for [Vorpal The Hexapod] and will plug right into the accessory port for that project. It could easily be used with other robotics projects as well.

What are the Capabilities of the Grip Arm?

The Grip Arm can:

  • Raise and lower the claw end-effector. When attached to Vorpal The Hexapod, the claw can be lowered almost to ground level (about 2.5 centimeters or 1 inch) or it can be raised to about the top of the robot's cap.
  • Open and close the claw. The claw can grasp objects up to about 5 centimeters (2 inches) in diameter.
  • The Grip Arm can safely lift objects of up to about 120 grams (4.5 ounces).
  • The Grip Arm is designed so that the claw remains approximately level as it raises and lowers.

The Grip Arm is intended to be used with Vorpal The Hexapod for activities and games, not to lift heavy objects.

Photo Gallery

Bill of Materials (BOM)

A complete kit is available from The Vorpal Robotics Store


  • 1 x Tower Pro MG90S servo. Used to lift the arm, metal gear servo required. The Vorpal Brand MG90 Servo is optimized for this kind of project.
  • 1 x Tower Pro SG90 servo. This is a plastic gear servo used to open and close the claw.
  • 2 x servo extension wires (M-F) 10cm length or longer.
  • 4 x nylon spacers 1/4" long, 1/4" outer diameter with center hole for #6 screw. These are used as bearings for moving parts.
  • 4 x #6-32 by 1/2" long button head socket screws.

3D Printed Parts

  • See Thingiverse for STL files to 3D print the Grip Arm parts

Assembly Instructions

Flashing The Robot Control Program

To control the Grip Arm using your gamepad, you will need a new version of the robot code that replaces F2 fight mode with Grip Arm Control Mode.


The Hexapod Grip Arm is licensed under the Creative Commons Attribution-ShareAlike International 4.0 license.