So what’s this gripper?
Alan KM6VV
Its the pincher like gripper, thats made out of all lexan pieces.
See, there are washers that we had to put on the top and bottom of that main gear for the H. wrist rotate. Should these be removed? Would it make a difference?
Also, thanks for the help, I look forward to installing this updated program tomorrow. 
Wait… thats no good. When I got to the updated page with the link to get the updated program, i click “here”…and then this pops up:
Server Error
404 - File or directory not found.
The resource you are looking for might have been removed, had its name changed, or is temporarily unavailable. 
OK, so you’re only doing a wrist rotate?
Normally there is a small washer on top of the gear driven by the R/C servo. The ball-bearing supported driven gear should not need anything. Your pincers aren’t mounted flush to the gear, are they?
Still like to know more about your “pincers”. I can’t see too much in your pix. Or is it Jim’s? (I just designed and built jaws for a 'bot).
Alan KM6VV
Sorry about that! Looks like I made an error in the URL. It’s fixed now.
Yep, looks like the link is fixed. I would also suggest a couple more updates to the document.
Table 2-1 still shows the connection to ssc-32 on P8…
Table 2-2 Shows the baud rate of 38400…
Kurt
Fixed, fixed, fixed… I THINK I have everything correct this time. 