From 9a6f6d6940c0fdf830fc12f603e2b8bda11be183 Mon Sep 17 00:00:00 2001 From: vectorgtwang <71222522+Vector-Wangel@users.noreply.github.com> Date: Tue, 2 Sep 2025 07:40:01 -0500 Subject: [PATCH] Compliant soft finray gripper add-on (#124) * Update README.md * Update README.md --- README.md | 14 ++++++++++---- 1 file changed, 10 insertions(+), 4 deletions(-) diff --git a/README.md b/README.md index 69d659a..928d03d 100644 --- a/README.md +++ b/README.md @@ -186,12 +186,12 @@ Extend your SO‑100/SO‑101 with these add-ons. #### 0. XLeRobot -A dual-arm mobile robot for daily use, with 2x SO101 arms, 1x Lekiwi base, 1x 300Wh Anker Battery, 2x wrist RGB cameras, 1x head depth camera (with a 2-dof neck). Total cost 960$. +A dual-arm mobile robot for daily use, with 2x SO101 arms, 1x Lekiwi base, 1x 300Wh Anker Battery, 2x wrist RGB cameras, 1x head depth camera (with a 2-dof neck). Total cost 660$. - +82c2b72eab7c716b90fafac0a9caf895 -[→ Full Documentation](https://xlerobot.readthedocs.io/en/latest/index.html), with detailed BOM, 3D models, assembly guide, and complete simulation platform. - + +[→ Full Documentation](https://xlerobot.readthedocs.io/en/latest/index.html), with detailed BOM, 3D printing models, assembly guide, simulation, and teleop guide. #### 1. Mount Helper @@ -242,6 +242,12 @@ Add some flexibility to your gripper by downloading the compliant gripper parts +#### 7. Compliant Gripper (new) +Printed with TPU 95A for the finger and PLA for the base. +Better structure and better grasp (both precision and power). No need to print support for the TPU finger. Requires 2 additional M3 screws, optional 3M gripper tape for higher friction. +![d2e57534a9e55a3d4dc0d644242cd044](https://github.com/user-attachments/assets/e814ed0a-72ce-43ad-80bf-5f03b7f16b90) + +[→ Find on XLeRobot](https://github.com/Vector-Wangel/XLeRobot/tree/main/hardware) ## Debugging Motors