# Gripper Malfunction

**URL:** <https://forum.hello-robot.com/t/gripper-malfunction/464>\
**Category:** Ask\
**Created:** [August 15, 2022, 9:04pm UTC](https://forum.hello-robot.com/t/gripper-malfunction/464 "2022-08-15T21:04:49Z")\
**Posts on this page:** 3\
**Page:** 1

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**Author:** ![NathanG](https://avatars.discourse-cdn.com/v4/letter/n/54ee81/32.png) [@NathanG](https://forum.hello-robot.com/u/NathanG)\
**Post date:** [August 15, 2022, 9:04pm UTC](https://forum.hello-robot.com/t/gripper-malfunction/464/1 "2022-08-15T21:04:49Z")

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We encountered a gripper malfunction when running the command:

```auto
stretch_robot_home.py

```

The lift, arm, and wrist all calibrated fine, but the gripper made a loud popping noise. The gripper began opening and closing very quickly, but not quite closing all the way. The emergency stop button was pressed.

An attempt was made to run the home command again, and this time the gripper did not open or close at all, although a noise was being made, presumably by the motor that is intended to open and close the gripper. The emergency stop button was pressed, but the noise kept occurring and the robot was shut off to stop the issue.

The command was run a third time so that we could take a video and send it to you. Weirdly, the emergency stop button did actually stop the issue this time around. The links go to a picture of what occurs when the ‘stretch\_robot\_system\_check.py’ command is run, and the video.

We assume this is a malfunction of the hardware in some way, shape, or form, but have no clue what steps should be taken to address the issue. If you have any suggestions, they would be greatly appreciated!

[Video of homing](https://drive.google.com/file/d/1uwqIavGekwqzwuahGnrjyy7-l0HlrMeR/view?usp=sharing)

[Image of System Check](https://drive.google.com/file/d/1V8Jn7V6unTOv-otBQFMHgHSnP2xfEZIg/view?usp=sharing)

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<div class="post-metadata">

**Author:** ![bmatulevich](https://yyz2.discourse-cdn.com/flex030/user_avatar/forum.hello-robot.com/bmatulevich/32/17_2.png) [@bmatulevich](https://forum.hello-robot.com/u/bmatulevich)\
**Post date:** [August 16, 2022, 12:06am UTC](https://forum.hello-robot.com/t/gripper-malfunction/464/2 "2022-08-16T00:06:18Z")

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Hi Nathan, I suspect you are right, based on your description and video it is likely that a part in the gripper drive mechanism failed. We should be able to send you a replacement part that you can install pretty easily.

Can you please send us an email at [support@hello-robot.com](mailto:support@hello-robot.com) so we can coordinate the delivery and repair?

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<div class="post-metadata">

**Author:** ![NathanG](https://avatars.discourse-cdn.com/v4/letter/n/54ee81/32.png) [@NathanG](https://forum.hello-robot.com/u/NathanG)\
**Post date:** [August 16, 2022, 2:38pm UTC](https://forum.hello-robot.com/t/gripper-malfunction/464/3 "2022-08-16T14:38:26Z")

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Thank you for the quick reply. I will send an email to [support@hello-robot.com](mailto:support@hello-robot.com), right away!