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The InterbotiX XM430 Viper Gripper is a two rail, two servo parallel gripper based around the DYNAMIXEL XM430 servos from Robotis. The servos offer a high resolution of 4096 positions and user definable PID parameters. Temperature monitoring, positional feedback as well as voltage levels, load and compliance settings are all user accessible. This is the same gripper as is offered on the ViperX 300 Robotic Arm.The gripper offers a default 86mm (without gripper padding) opening (116mm center to center carriages) and interchangeable gripper fingers for users to 3D print their own gripper designs. The gripper comes standard with wrist rotate servo and mounting brackets (see pictures). The gripper is offered in two versions, the TTL (DYNAMIXEL XM430-W350T) and RS485 (DYNAMIXEL XM430-W350R).
The gripper weighs roughly 435 grams and measures 17cm from the tip of the gripper to the back of the last servo (the brackets shown are not part of the length measurement) and 15cm wide.
2x XM430-W350 servos
Self adhering foam and sorbothane