The gripper servo outputs 7.7 kgkgf*cm of torque at a nominal 4.8 volts. For this project we ran the power supply at a constant 5 volts to allow for maximum torque. 7.7 kgkgf*cm is multiplied by 9.81 to get the torque of the servo, which is 75.5 N*cm. In order to keep the gripping force of the servo high, we kept the linkage arm length to a minimum. With a length of 5 cm we get a gripping force of 15.1 N.
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