Adaptive Gripper

Product Image

pi

Specifications:

Name myCobot Adaptive Gripper
Model myCobot_gripperAg_white
Process ABS Injection Molding
Color White
Gripping Range 20-45mm
Maximum Gripping Force 150g
Repeatability 1mm
Service Life One Year
Drive Mode Electric
Transmission Mode Gear + Connecting Rod
Dimensions 112 × 94 × 50mm
Weight 110g
Mounting Method LEGO Connector
Operating Environment Normal Temperature and Pressure
Control Interface Serial Control
Applicable Devices ER myCobot 280 Series, ER myPalletizer 260 Series, ER mechArm 270 Series, ER myBuddy 280 Series

Adaptive Gripper: For gripping objects

Introduction

  • A gripper is a robotic component that performs functions similar to a human hand. Its complex structure offers advantages such as a secure grip, resistance to drops, and ease of operation. The gripper kit includes the gripper components and LEGO technology. A programmable system controls the robotic arm's end effector, enabling functions such as gripping and multi-point positioning. The gripper can be used in all development environments, including ROS, Arduino, and Roboflow.

Operating Principle

  • Driven by a motor, the gripper's finger surface moves in a linear reciprocating motion to open and close. The electric gripper's acceleration and deceleration are controllable, minimizing impact on the workpiece. The positioning point and gripping position are controllable.

Applicable Objects

  • Small cubes
  • Small balls
  • Long objects

Installation and Usage

  • Check that the accessories package contains the following: LEGO connector, gripper with cable, and extension cable.

  • Gripper Installation:

    • Structural Installation:

      1. Insert the LEGO connector into the pre-installed socket on the gripper. You can choose to install it in two different orientations depending on your needs:

      1. Align the gripper with the connector inserted into the socket on the end of the robot arm and insert it:

    • Electrical Connections:

      1. Connect the extension cable to the gripper:

      1. Inserting the Robot Arm Control Interface:


  • Programming Development:

Using Python to Program the Gripper

  • M5 Version:

     from pymycobot import MyCobot280
 import time

 # Initialize a MyCobot280 object
 mc = MyCobot280("COM3", 115200)

 # The following three methods can all control the gripper's open-close-open state.
 # Method 1:
 mc.set_gripper_state(0, 80)
 time.sleep(3)
 mc.set_gripper_state(1, 80)
 time.sleep(3)
 mc.set_gripper_state(0, 80)
 time.sleep(3)

 # Method 2:
 # mc.set_gripper_value(100, 80)
 # time.sleep(3)
 # mc.set_gripper_value(0, 80)
 # time.sleep(3)
 # mc.set_gripper_value(100, 80)
 # time.sleep(3)

 # Method 3:
 # mc.set_encoder(7, 2048)
 # time.sleep(3)
 # mc.set_encoder(7, 1500)
 # time.sleep(3)
 # mc.set_encoder(7, 2048)
 # time.sleep(3)

    • 280-Pi version:

      from pymycobot import MyCobot280
from pymycobot import PI_PORT, PI_BAUD  # When using the Raspberry Pi version of mycobot, you can reference these two variables to initialize MyCobot280
import time

# Initialize a MyCobot280 object
mc = MyCobot280(PI_PORT, PI_BAUD)

# The following three methods can all control the gripper's open-close-open state.
# Method 1:
mc.set_gripper_state(0, 80)
time.sleep(3)
mc.set_gripper_state(1, 80)
time.sleep(3)
mc.set_gripper_state(0, 80)
time.sleep(3)

# Method 2:
# mc.set_gripper_value(100, 80)
# time.sleep(3)
# mc.set_gripper_value(0, 80)
# time.sleep(3)
# mc.set_gripper_value(100, 80)
# time.sleep(3)

# Method 3:
# mc.set_encoder(7, 2048)
# time.sleep(3)
# mc.set_encoder(7, 1500)
# time.sleep(3)
# mc.set_encoder(7, 2048)
# time.sleep(3)

    Save the file and close it, then return to the command line terminal and enter:

     python grip.py

    You can see the jaws open-close-open

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