Catch
Description
Catch is a claw gripper powered by an SG92R servo. This servo uses PWM signals to drive the rotation of the gripper gears, controlling the gripping and releasing operations. Structurally, it features a design compatible with LEGO 8 mm round holes. You can integrate it with other LEGO components to build creative control structures such as robotic arms and gripper vehicles.
Precautions
Rotation Angle
Since the opening and closing angle of the gripper is 90°, please control the servo rotation angle within 0-45° (PWM: frequency 50Hz, 0°-45° (pulse: 0.5ms-1ms)) to prevent stalling and burning out the servo.
Features
- SG92R Servo
- PWM Signal Drive
- LEGO Hole Compatible
- Gripper Opening and Closing Angle 90°
- Compatible with RoverC
- Supported Input Voltage: 4.2-6V
- Development Platforms: UIFlow , MicroPython , Arduino
Includes
- 1 x Catch
- 1 x HY2.0-4 Adapter
- 1 x RoverC.Pro Connector
Applications
- Gripper Robots
- Servo Robotic Arm Gripper
Specifications
| Main Control Resource | Parameter |
|---|---|
| Servo Model | SG92R |
| Drive Signal | PWM: Frequency 50Hz, 0°-45° (pulse: 0.5ms-1ms) |
| Operating Frequency | 50Hz |
| Gripper Opening Angle | 90° |
| Input Voltage Range | 4.2-6V |
| Dead Band | 10us |
| Output Torque | 2.5kg/cm at 4.8V |
| Output Speed | 0.1sec/60° at 4.8V |
| Operating Temperature | 0 ~ 55°C |
| Net Weight | 21.5g |
| Gross Weight | 50g |
| Product Dimensions (Gripper Open) | 72 x 56 x 37mm |
| Package Dimensions | 147 x 90 x 40mm |
| Housing Material | Plastic (PC) |
PinMap
When connecting the Catch Unit to PortB, the pin mapping is as follows
| M5Core (PORT B) | G26 | 5V | GND |
|---|---|---|---|
| Catch Unit | SIGNAL | 5V | GND |
Softwares
Arduino
/*
Description: Control Catch Unit through PWM.
*/
#include <M5Stack.h>
// Set control pin
const int servoPin = 26;
// Set frequency
int freq = 50;
// Set PWM channel
int ledChannel = 0;
// Set pulse resolution
int resolution = 10;
void setup() {
// put your setup code here, to run once:
M5.begin();
M5.Power.begin();
M5.Lcd.setCursor(100, 50, 4);
M5.Lcd.println("Catch Unit");
M5.Lcd.setCursor(40, 120, 4);
ledcSetup(ledChannel, freq, resolution);
ledcAttachPin(servoPin, ledChannel);
}
void loop() {
// High level 0.5ms is angle 0°
// duty = 0.5/20ms = 0.025, 0.025 x 1023≈25
ledcWrite(ledChannel, 25);
delay(2000);
// High level 1ms is angle 45°
// duty = 1/20ms = 0.05, 0.05 x 1023≈50
ledcWrite(ledChannel, 50);
delay(2000);
}