Assemble the Gripper
Assemble the Gripper
Requir
Required items
ed items
• PASCObot (fully assembled)
• 2× Servo Motor (SE-2975)
• SPARKvue or PASCO Capstone software
• Screwdriver
Step 1: Set up the P
Step 1: Set up the PASCObot
ASCObot
1. Assemble the PASCObot according to the PASCObot Body
(PS-3318) manual, except don't attach the top frame yet.
2. Connect the //control.Node to SPARKvue or PASCO Capstone. If
needed, see the //control.Node (PS-3232) manual.
3. Open the Code
Code tool
in the software.
4. Build the code shown here. This code will be used later to set
each servo at 0 degrees.
Step 2: A
Step 2: Attach ser
ttach servvo mot
o motor 1
or 1
1. Remove the screw and horn from the servo (if attached).
2. Insert the servo cable through the cable routing hole from the top
side of the Gripper.
3. Connect the servo extension cable to the servo cable. Connect the
other end of the cable to Servo port 1
Servo port 1 on the //control.Node.
Important:
Important: The black wires on each cable must be aligned
when connected. The extension cable must connect to the
//control.Node with the black wire on the
right side, as
indicated by the dark dot on the Servo port label.
4. Set the servo to the 0° position by running the program in the
Code tool.
5. With the gripper arms
closed, attach the servo to mounting
location 1
location 1 on the Gripper as shown.
6. Install four screws to hold the servo in place. Turn the screws until
the rubber grommet starts to deform.
7. Insert the cable into the cable retainer to hold the cord in place.
Leave some slack in the cable so that the pivot can rotate fully.
Step 3: A
Step 3: Attach ser
ttach servvo mot
o motor 2
or 2
1. Insert the servo and cable through the square hole at location 2
location 2
from the top side of the Gripper.
2. Install four screws to hold the servo in place. Turn the screws until
the rubber grommet starts to deform.
3. Connect the servo cable to Servo port 2
Servo port 2 on the //control.Node.
Important:
Important: Remember to connect the cable to the
//control.Node with the black wire on the
right side, as
indicated in the note from the previous section.
4. Set the servo to the 0° position by running the program in the
Code tool.
5. Attach the adjustable horn to servo 2 as shown in the diagram.
Note that the horn is parallel with the servo.
Step 4: A
Step 4: Attach the contr
ttach the control r
ol rod
od
1. Attach a clevis to each side of the rod.
2. Open a clevis by gently prying the sides apart. Insert the clevis pin
through the servo horn's outer hole.
Tip:
Tip: You can open the clevis by inserting a screwdriver
between the clevis sides.
3. With the arms
parallel to the Gripper body, insert the other clevis
pin through the hole on the pivot. Adjust the control rod length
and the horn position as needed.
4. Tighten the screw on the servo to hold the horn in place.
2 | PASCObot Gripper
