PRELIMINARY - CONFIGURATION AND PACKAGING CAD ONLY - NOT APPROVED FOR PROCUREMENT, FABRICATION, ASSEMBLY, POWERED TESTING, MOTION, OR ENERGIZATION

The robot now has mechanisms at the ends of both wrists.

Each hand is an actual symmetric rack-and-pinion parallel gripper candidate with a supported palm frame, twin guide rods, broad sliding fingers, replaceable pads, hard stops, manual release access, and the exact XC330 packaging body.

Open and close the complete-robot candidate

The OPEN state moves both racks and rotates the pinion by the matching pitch displacement. These are geometry states, not commands or proof of movement.

Mechanical definition

20°

Project-owned involute pinion and matching rack pressure-angle candidate.

26 mm

Total coupled jaw stroke: 13 mm per finger.

8–34 mm

Candidate pad-to-pad opening range.

0.08 mm

Nominal total tangential backlash candidate; physical correlation remains open.

Files and remaining work

Left closed STEP · Right closed STEP · part register · kinematic states · gear geometry · mesh states · force screen · interfaces · candidate BOM · editable source.

Manufactured profile/tolerance, materials/processes, guide fit, exact horn adapter, calibration, compliant-pad behavior, object detection, endurance, breakaway release, pinch probing, DFM, FAI and physical proof remain open.