Gripper Finger

Create a single gripper finger for a medical robot arm. It is a bolt-on replacement fingertip only, so it consists of a mounting base, a long extension arm, and a grip tip. All dimensions in millimetres. Model one finger; the second finger is a mirror of this one. GLOBAL Overall length 148 mm along the X axis. X = 0 at the back face of the mounting base. The finger is symmetric about the XY plane (its own thickness centreline). The "inner face" is the -Y face, which faces the opposing finger. 1. MOUNTING BASE (X = 0 to 10) Rectangular plate, 10 mm thick (X), 34 mm wide (Z), 28 mm tall (Y). Back face at X = 0 is perfectly flat with no features. Two through holes along the Y axis, diameter 4.5 mm, centred on the plate width, spaced 18 mm apart, symmetric about the plate centre. Each hole counterbored from the front face (X = 10): counterbore diameter 8 mm, depth 5 mm. Break all outer edges with a 1 mm chamfer. 2. EXTENSION ARM (X = 10 to 100) Solid tapered beam, 90 mm long. Cross section at X = 10: 26 mm wide (Z) by 16 mm thick (Y). Cross section at X = 100: 20 mm wide (Z) by 14 mm thick (Y). Linear loft between the two sections, centred on the same axis. Central lightening slot: rectangular through pocket cut along the Y axis (through the thickness), 8 mm wide, 55 mm long, rounded ends radius 4 mm, starting 22 mm from the base plate front face. Fillet the junction with the mounting base at radius 4 mm. 3. GRIP TIP (X = 100 to 148) Rectangular block, 48 mm long, 22 mm wide (Z), 20 mm thick (Y). Blend into the extension arm with a radius 4 mm fillet. The distal end face is rounded over with a 6 mm radius on all edges so there is no sharp point. Three gripping features are cut into the inner (-Y) face, running the full 22 mm width of the block as through cuts along the Z axis: ZONE A, proximal, from X = 100 to X = 120 A V groove running along the Z axis (across the finger). Included angle 90 degrees, opening width 20 mm at the inner face, depth 10 mm. Apex radius 1.5 mm. ZONE B, middle, from X = 124 to X = 140 A second V groove running along the Z axis. Included angle 60 degrees, opening width 9 mm at the inner face, depth 8 mm. Apex radius 0.8 mm. ZONE C, distal, from X = 140 to X = 148 A flat pad on the inner face, 22 mm wide, 8 mm long, lying 0 mm below the nominal inner face plane. Cut parallel triangular serrations into this pad, running along the Z axis, 0.8 mm pitch, 0.4 mm deep, 60 degree included angle, crest radius 0.15 mm. 4. ELASTOMER PAD POCKETS (optional feature, include it) On each of the two flank faces of the Zone A V groove, cut a rectangular pocket 1.5 mm deep, 18 mm wide (Z), 12 mm long, corner radius 2 mm, centred on each flank. 5. FINISHING Fillet all remaining internal corners at radius 1 mm and all external edges at radius 0.5 mm, except the flat back face of the mounting base which stays sharp. Minimum wall thickness anywhere must be 2 mm.

Parameters

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