Use of gripper

Adaptive gripper

1. Set gripper mode

Before using, you need to use the set_gripper_mode interface to set the gripper mode to 0

from pymycobot import Mercury

mc = Mercury('/dev/ttyAMA1')

mc.power_on()

mc.set_gripper_mode(0)

2. Gripper control

Angle control

Use the set_gripper_value interface to set the gripper's opening angle

from pymycobot import Mercury
import time

mc = Mercury('/dev/ttyAMA1')

mc.power_on()

mc.set_gripper_value(0, 50)
time.sleep(2)
mc.set_gripper_value(100, 50)
time.sleep(2)

IO control

Use set_digital_output interface to realize IO control gripper opening or closing

from pymycobot import Mercury

mc = Mercury('/dev/ttyAMA1')

mc.power_on()

mc.set_digital_output(1, 0)
mc.set_digital_output(2, 1)
time.sleep(2)
mc.set_digital_output(1, 1)
mc.set_digital_output(2, 0)
time.sleep(2)

Note: By default, IO control can be used directly. If the gripper mode is set to 0, you need to set the gripper mode to 1 first, that is, set_gripper_mode(1), and then use IO control. If IO control cannot be used after setting it to 1, you need to power on again.

Electric gripper

1. Initialize the gripper

Use init_electric_gripper interface to initialize the gripper

from pymycobot import Mercury

mc = Mercury('/dev/ttyAMA1')

mc.power_on()

mc.init_electric_gripper()

2. Gripper control

Use set_electric_gripper interface to control the opening or closing of the gripper

from pymycobot import Mercury
import time

mc = Mercury('/dev/ttyAMA1')

mc.power_on()

# Open the gripper
mc.set_electric_gripper(0)
time.sleep(2)
# Close the gripper
mc.set_electric_gripper(1)

myGripper F100 force-controlled gripper

1. Use the set_pro_gripper_angle interface to control the opening or closing of the gripper.

    from pymycobot import Mercury
    import time
   
    mc = Mercury('/dev/ttyAMA1')
   
    mc.power_on()
   
    # Open the gripper-left arm
    mc.set_pro_gripper_angle(14, 100)
    time.sleep(2)
    # Close the gripper-left arm
    mc.set_pro_gripper_angle(14, 0)
   

2. Use the set_pro_gripper_open and set_pro_gripper_close interfaces to control the opening or closing of the gripper.

    from pymycobot import Mercury
    import time
   
    mc = Mercury('/dev/ttyAMA1')
   
    mc.power_on()
   
    # Open gripper - left arm
    mc.set_pro_gripper_open(14)
    time.sleep(2)
    # Close gripper - left arm
    mc.set_pro_gripper_close(14)
   

myGripper H100 three-finger gripper

Use set_hand_gripper_pinch_action_speed_consort interface to control the pinching action of the gripper.

from pymycobot import Mercury
import time

mc = Mercury('/dev/ttyAMA1')

mc.power_on()

# All joints return to zero - left arm
mc.set_hand_gripper_pinch_action_speed_consort(0,5,14)
time.sleep(3)
# Index finger and thumb pinch - left arm
mc.set_hand_gripper_pinch_action_speed_consort(1,5,14)
time.sleep(3)
# Middle finger and thumb pinch - left arm
mc.set_hand_gripper_pinch_action_speed_consort(2,5,14)
time.sleep(3)
# Index finger and middle finger pinch - left arm
mc.set_hand_gripper_pinch_action_speed_consort(3,5,14)
time.sleep(3)
# Three fingers together - left arm
mc.set_hand_gripper_pinch_action_speed_consort(4,5,14)
time.sleep(3)
# All joints return to zero - left arm
mc.set_hand_gripper_pinch_action_speed_consort(0,5,14)
time.sleep(3)