Grippers

YAM supports four interchangeable end effectors. The gripper type is specified when creating the robot:

robot = get_yam_robot(channel="can0", gripper_type="linear_4310")

Gripper Reference

crank_4310

Zero-linkage crank gripper powered by the DM4310 motor. The crank mechanism minimizes the total gripper width — ideal for reaching into tight spaces.

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Photo — Coming Soon

crank_4310 gripper close-up: crank mechanism, finger geometry, and motor mount. Side and front views.

Property	Value
Motor	DM4310
Mechanism	Zero-linkage crank
Calibration	Not required
Best for	Narrow workspace, minimizing sweep width

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linear_3507

Lightweight linear gripper with a DM3507 motor. Smaller and lighter than the 4310 variant.

📷

Photo — Coming Soon

linear_3507 gripper showing the linear actuator, finger tips, and compact motor housing.

Property	Value
Motor	DM3507
Mechanism	Linear actuator
Calibration	Required — must start in fully closed position, or run calibration routine
Best for	Weight-sensitive setups

Calibration required

Because the motor travels more than 2π radians over the full stroke, the linear_3507 needs to know its start position. Either:

1. Close the gripper fully by hand before powering on, or
2. Run the provided calibration routine

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linear_4310

Standard linear gripper with the heavier DM4310 motor. Slightly more gripping force than the 3507.

📷

Photo — Coming Soon

linear_4310 gripper. Similar form factor to linear_3507 but with a larger motor body.

Property	Value
Motor	DM4310
Mechanism	Linear actuator
Calibration	Required — same as linear_3507
Best for	General-purpose tasks, higher force

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yam_teaching_handle

The leader arm handle — not a manipulation gripper, but a hand controller for teleoperation.

📷

Photo — Coming Soon

yam_teaching_handle: the handle with trigger clearly visible, two programmable buttons on top, and cable exit.

Feature	Description
Trigger	Controls follower gripper open/close
Top button	Enable/disable arm synchronization
Second button	User-programmable

For full usage — trigger reading, encoder calibration, and teleoperation setup — see the YAM Leader Arm page.

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Gripper Models

MuJoCo and URDF models for each gripper:

i2rt/robot_models/gripper/
├── crank_4310/
│   ├── crank_4310.xml
│   └── assets/link_6_collision.stl
├── linear_3507/
│   ├── linear_3507.xml
│   └── assets/  gripper.stl  tip_left.stl  tip_right.stl
├── linear_4310/
│   ├── linear_4310.xml
│   └── assets/  gripper.stl  tip_left.stl  tip_right.stl
├── yam_teaching_handle/
│   └── yam_teaching_handle.xml
└── no_gripper/
    └── no_gripper.xml

Gripper Calibration (Linear)

For linear_3507 and linear_4310:

1. Manually close the gripper fully (fingers touching)
2. Power on the arm
3. Initialize normally:

robot = get_yam_robot(channel="can0", gripper_type="linear_4310")

Or, if you cannot close it manually before power-on, use the calibration script (see i2rt/motor_config_tool/).