Parallel Gripper

Applicable Models: myCobot 280, myPalletizer 260, mechArm 270

Product illustration

pi

Specifications:

name mycobot280 Parallel gripper
model myCobot_gripper_parallel
arts and crafts ABS injection moulding
color white
Clamping range <20mm (15mm effective)
Maximum clamping force 150g
Repeatability 1mm
service life 一年
Driving method 电动 electric
transmission method 齿轮＋连杆
size 66×78×46mm
weight 84g
fixing method LEGO Connectors
use environment requirements ordinary temperature and pressure
control interface control serial port control
applicable equipment ER myCobot 280 series ，ER myPalletizer 260 series， ER mechArm 270 series ，ER myBuddy 280 series

Parallel jaws: For clamping objects

Introduction

  • The gripper jaw is a robot part that can realize a function similar to that of a human hand. It has the advantages of a more complex structure, firm gripping of objects, not easy to fall, and easy to operate. The gripper kit includes gripper accessories and Lego high tech parts to control the end-effector of the robotic arm through a programmable system to realize the functions of object gripping, multi-point positioning, and so on. The gripper can be used in all development environments, such as ROS, Arduino, Roboflow and so on.

Principle of operation

  • Driven by the motor, the finger surface of the gripper jaws for linear reciprocating motion to realize the opening or closing action, the acceleration and deceleration of the electric gripper jaws can be controlled, the impact on the workpiece can be reduced to a minimum, the positioning of the point can be controlled, the clamping can be controlled.

Applicable objects

  • Small cubes
  • Small balls
  • Long objects

Installation for use

  • Check that the kit has everything: LEGO connectors, clamping jaws with connecting wires.

  • Jaw mounting:

    • Structural Installation:

      1. Insert the LEGO connectors into the sockets reserved for the clamping jaws:

      2. Insert the jaws of the inserted connector against the end socket of the arm:

    • Electrical Connections:

      1. Plug in robotic arm control connector:


  • Software driver test:

    Test that the jaws are available after installation, using myBlockly test myblockly download

    1. After confirming that the structural and electrical connections are complete, start the robot arm and open the myblockly software when the graphical interface appears.
    2. Modify the baud rate to 1000000
    3. Find Jaws' in the list on the left and select theStatus Settings' module.
    4. The drag module is connected under Initialize mycobot module, modify the speed as needed, here it is set to 70.
    5. In Time', selectSleep' module
    6. Set the time to `2 seconds' to give the time for the jaws to move.
    7. Repeat the selection of the Status Settings' andSleep' modules to change the `Status Settings Module' to off.
    8. Click on the green run icon in the upper right corner to see the jaws open and close once.


  • Programming Development:

    Programming development for gripper jaws using python python download

    • Create a new python file: Ctrl + Alt + T Open the command line and type:

      gedit grip.py

      alt text

      The file name can be changed as desired

    • for function programming: alt text

      The codes are listed below:

      • M5 Version:
      from pymycobot.mycobot import MyCobot
import time

# Initialise a MyCobot object
mc = MyCobot("COM3", 115200)

# The following three ways are available to control the jaws open-close-open
# Way one:
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)

# Way two:
# 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)

# Way three:
# mc.set_encoder(7, 2048)
# time.sleep(3)
# mc.set_encoder(7, 1500)
# time.sleep(3)
# mc.set_encoder(7, 2048)
# time.sleep(3)
      • Pi version:
      from pymycobot.mycobot import MyCobot
from pymycobot import PI_PORT, PI_BAUD  # When using the Raspberry Pi version of mycobot, these two variables can be referenced for MyCobot initialisation
import time

# Initialise a MyCobot object
mc = MyCobot(PI_PORT, PI_BAUD)

# The following three ways are all available to control the jaws open-close-open
# Way one:
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)

# Way two:
# 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)

# Way three:
# 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, return to the command line terminal and type:

      python grip.py

      alt text

      You can see the jaws open-close-open

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