## 3 Results
### Controlling System  
#### 3.3.1 Electrical Circuit  
The electrical components are listed in Table 2, and Figure 7 illustrates their connections. This gripper can be controlled either manually through remote control (#1) or programmed using the robotic arm. The gripper can perform motion between a closed position for grasping objects and an open position for releasing them. The gripper's motion is facilitated by a stepper motor (#2), which controls the steps involved in transitioning  
Figure 5: Pinion gear that directly fits the motor and gearbox to actuate the rack and gripper handles and translates rotational movement to linear.  
Figure 6: Front cross-section view of rack and pinion system and the rubber stops.  
between the two positions. To ensure accurate positioning and prevent step losses in the motor, a switch button (#3) is integrated into the gripper. This button serves to reset the gripper's position after each release and calibrate it for the next grasping task. In this design, a single button is sufficient due to the synchronized movement of the gripper arms, operated by the pinion-rack mechanism.  
To enable remote control functionality, an infrared remote and sensor (#4) are employed. The reset switch is connected to a microcontroller through a ten-kilo-ohm resistor (#5).  
The gripper employs a NEMA17 Stepper motor with a torque rating of 59 N cm. To enhance the gripping force for effectively grasping objects, a planetary gearbox with a torque transmission ratio of 40:1 is attached to the motor shaft.  
To operate the motor, an L298N Motor Drive Controller (#6) is utilized. This controller acts as an intermediary between the microcontroller, battery, and motor. To optimize space, an Arduino Uno (#7) microcontroller board is employed for controlling the gripper's open and closed positions and receiving infrared signals. Both the stepper motor and Arduino are powered by a compact 22.5 W (maximum) power bank. The power bank provides a 5 V output for the Arduino Uno and a 12 V output for the stepper motor.  
The gripper is controlled through user commands using an IR Remote and its sensor. The remote features a specific button for opening and closing the gripper. Pressing it once closes the gripper until the flexible surfaces touch each other or, in the presence of an object, grasp it. Pressing the button again fully opens the gripper to release the object.  
\begin{table}
\begin{tabular}{l c c} \hline \hline
**Component** & **Item \#** & **Quantity** \\ \hline IR Remote & 1 & 1 \\ Stepper Motor & 2 & 1 \\ Push Button & 3 & 1 \\ IR Sensor–Receiver Module & 4 & 1 \\ Resistor—10 k\(\Omega\) & 5 & 1 \\ L298N Motor Driver & 6 & 1 \\ Arduino Uno & 7 & 1 \\ \hline \hline \end{tabular}
\end{table}
Table 2: Electronic Components from Figure 7.  
Figure 7: Wiring diagram of the gripper with balloon numbering as part numbers from Table 2.  
The range for opening is fixed, but the user can adjust the closing range based on the size range of the target objects in the program. To enhance safety and system accuracy, a stop switch button is integrated into the rubber stops. When the gripper reaches the fully open position, it activates the stop button switch, immediately halting the motor and resetting the code. This position becomes the starting position, preparing the gripper for the next grasp. Alternatively, instead of employing a remote-control system, the gripper can be directly connected to the robotic arm controller for control.