mahd/implementation/submodel/endeffector/gripper.scad

module my_cylinder(length, diameter, position)
{
  translate(position) rotate([90,0,0]) cylinder(h=length,d=diameter, center=true, $fn=15);
}

// marker
my_cylinder(0.15,0.015,[0,0.10,0]);


// holder
offset = 0.0088;
fromboard1 = 0.11;
diameter = 0.01;
width = 0.04;
translate([0,fromboard1,-offset])
translate([0,0,0])
{
my_cylinder(0.02,diameter,[offset, width, 0]);
my_cylinder(0.02,diameter,[-offset, width, 0]);
my_cylinder(0.02,diameter,[offset,-width, 0]);
my_cylinder(0.02,diameter,[-offset,-width, 0]);
my_cylinder(0.04,diameter,[-2*offset,0, 1.4*offset]);
    translate([0,0,-0.51])
cube([1,1,1], center=true);
};

//gripper
translate([0,fromboard1,0])
translate([0,0,0]){
  my_cylinder(0.03,0.01,[offset, 0, -offset]);
  my_cylinder(0.03,0.01,[-offset, 0, -offset]);
  translate([0,0,0.015])
  cube([0.07,0.04,0.01],center=true);
};