Arpeggio Gripper DIY Hardware Kit

The complete set of hardware you need to build the newest stringman gripper, featuring a wide angle camera and wrist.
"Arpeggio" refers to second major hardware version.

Ships in 5-8 days within the United States

Build it Yourself

This gripper features a raspberry pi zero 2w streaming video from a wide angle camera, a custom PCB for power distribution and inertial sensing, a pressure sensor in the finger, laser rangefinder, ST3215 servos to control the grip and wrist, and ABS tube rigidly linking it to the display box above.

What's Included

  • 2 Feetech ST3215 Smart Servos
  • Seld adhesive grip foam tape
  • Pressure sensing pad
  • PCTG drive gear
  • 15 dBm Cooling fan
  • Laser rangefinder
  • 32 GB MicroSD card
  • Heat sink
  • Raspberry Pi Zero 2W
  • Stringman Gripper Hat (PCB)
  • 8 cm camera ribbon cable
  • RPi camera module 3 Wide
  • 2 washers
  • 10x15x4 wrist bearing
  • 2 25cm by 1cm ABS tube
  • Hardware package

What You Need to Provide

You will need to download and print the STLs from our downloads page. All parts but one can be printed in PLA of any color you like

The finger drive gear needs exceptional layer adhesion and must be printed in PCTG at 265°C, so it's included in the kit. You do not need to print this part.

This kit is suitable for upgrading from a pilot gripper, though it may require splicing on a different JST conector to the end of your power line depending on what you already have. Both gripper versions will run on anything between 12v and 24v.

In order to avoid shipping a much larger box, the ABS tube is supplied in two 25cm sections. These must be joined with a printed coupler and cyanoacrylate glue. (white suggested). Though there's no harm in sourcing your own 50cm by 1cm tube.

How To Build

Assembly takes roughly 1-2 hours. Please refer to the online build guide for detailed information on the required tools and steps.

Soldering is necessary but only to solder 2.54 pitch headers onto the pi and rangefinder

Even without a full stringman system the gripper can be supplied with 12-24v power and connected to your wifi by showing a QR share code to the camera.