Gripper design

Back in 2008 I was playing with robotic gripper designs using RC servos. Several YouTubers have asked for the blueprints so I threw something together in OpenSCAD. http://www.youtube.com/watch?v=-9pwPNnW5tM

The design is based on Vice Grips 4-bar linkage, and was crafted from trial and error rather than CAD and planning :)

Here is the youtube description I wrote:
It's a 4-bar linkage design.

• the longest part (call it part A) is 120mm then a 30 degree bend and 65mm
• the next longest part B is 100mm then a 45degree bend and 75mm
• part C mounted to the standard servo is 85mm long and controls the up/down

• part D is 50mm long and mounts to the micro servo that opens and closes the gripper

• Part D has a hole 30mm from the center of the microservo horn.
• There is #6 screw (with washers) that joins part D to part A 10mm from the end of A.
• There is a #6 screw w/ washers that connects part A at 35mm from the end and 10mm from the end of part B
• Part C is joined to part B 10mm from the opposite end of the micro servo and 65mm from the end of part B
• Part E is perpendicular to part C so that the standard servo can raise it up and down.