Calliope2 compliant fingers

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Revision as of 07:01, 17 July 2013 by Touretzky (Talk | contribs)
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Install Instructions

Parts list:

  • 1 left finger plate
  • 1 right finger plate
  • 2 short (8 mm) M2 metric screws
  • 2 long (14 mm) M2 metric screws
  • 4 M2 nuts
  • 2 steel springs, 1 inch long, 1/8 inch OD (outer diameter), 0.014 inch wire: McMaster-Carr part number 9654K965
  • some blue Loctite (Loctite 242) or super glue

Tools required:

  • Small Phillips head screwdriver
  • Possibly a scraping tool such as a razor blade or an X-Acto knife


  1. If your Calliope2 arm has a strip of black foam lining the inside of the gripper (see photo below), use your scraping tool to remove the liner up to the fourth hole.
  2. Place a long screw in the second hole from the tip of the gripper, and a short screw in the hole farthest from the tip. If the holes are not fully open, you may need to twist the screw in using the screwdriver. If it won't go in from the top side, try inserting it from the bottom side instead. Work the screws all the way in until they move easily, then remove them.
  3. Attach a spring to each finger plate by bending open the loop slightly and then threading it through the hole on the thin side of the finger plate, as shown in the photo.
  4. Mount the finger plate on the gripper using the long screw in the second hole from the tip. Note that the thin side of the plate should be above the gripper, and the thick side below. The two finger plates are mirror images.
  5. If you're using Loctite, brush a tiny amount onto the tip of the long screw.
  6. Thread a nut onto the long screw. If you're not using Loctite, secure the nut with a dab of super glue.
  7. Thread the short screw through the loop at the other end of the spring, and then insert the screw into the hole farthest from the tip of the gripper. Secure it with a nut, using either Loctite or super glue as above. See the photos below for a picture of the completed installation.
  8. Repeat the above steps to install the other finger plate.