Single Servo Robotic Gripper

In this instructable I will show you step by step how to make a robotic gripper. You may be wondering: What does it do? It is basically a robotic hand that slowly closes and if something touches the switch while it is closing it stops so it grips onto the object that presses the switch.

This instructable was originally going to be a celebration instructable for achieving 50 000 views overall 50 followers and 25 instructables but now I am almost at 75 000 views! Thank you everyone that is following me and everyone that views my instructables!

Update: Adafruit has posted this instructable in their blog:

If you like this instructable then you should check out this one:

Step 1: Parts and Tools

Single Servo Robotic Gripper
Single Servo Robotic Gripper
Single Servo Robotic Gripper

Here are the parts and tools you will need to make this project:


Normally closed/ Normally open limit switch

Micro servo



USB A to B cable


3d printer

Filament any colour PLA or ABS

Computer with Arduino IDE

Step 2: 3d Print Files

Single Servo Robotic Gripper

3d print this file:

Any colour will do but I chose black PLA.

Step 3: Assemble

Single Servo Robotic Gripper
Single Servo Robotic Gripper

First glue the servo onto the base piece. Then Assemble the parts together by gluing one of the "fingers" to the base piece as shown in the first image. Then slip the second "finger" onto the servo horn as shown in the second image.

Step 4: Wire Servo

Single Servo Robotic Gripper

Wire the servo's negative wire (brown) to the arduino's ground. Then wire the poitive wire (red) to the arduino's 5v pin.

Step 5: Mount Limit Switch

Single Servo Robotic Gripper

Glue the limit switch to the "finger" that is mounted to the base and not the servo. Make sure that when the grippers are together the switch is clicked. Wire the servo's data wire between the switch so that the limit switch so it is normally closed. Then wire the other pin of the switch to pin 9.

Step 6: Upload Code

Single Servo Robotic Gripper

Upload the code to the arduino.

Single Servo Robotic Gripper
Robotic gripper.rtf850 bytes

Step 7: Test

Single Servo Robotic Gripper

Test and see if it works. The gripper should open and close slowly. If it does place something into the gripper like a pencil and it should stay put. If you take out the pencil it should continue to open and close.

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