Adaptive Gripper

Compatible models: myCobot 280, myPalletizer 260, mechArm 270

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pi

Specifications:

name mycobot280 adaptive gripper
Model model myCobot_gripperAg_white
craft ABS injection molding
color White
Clamp size 20-45mm
Clamp force 150g
Repeatability precision 1mm
Lifetime one year
drive mode electric
transfer method gear + connecting rod
size 112×94×50mm
weight 100g
Fixed method Lego Connectors
Use environment requirements Temperature and pressure
control interface serial control
Applicable equipment ER myCobot Series 280, ER myPalletizer Series 260, ER mechArm Series 270, ER myBuddy Series 280

Adaptive Gripper: Gripping objects using

Introduction

  • A gripper is a robotic component that can function like a human hand. It has the advantages of complex structure, firm grasping of objects, not easy to drop, and easy operation. The gripper kit includes gripper accessories and LEGO high-tech parts. The end effector of the robotic arm is controlled by a programmable system to realize functions such as grasping and multi-point positioning of objects. Gripper can be used in all development environments, such as ROS, Arduino, Roboflow, etc.

working principle

  • Driven by a motor, the finger surface of the gripper makes a linear reciprocating motion to realize the opening or closing action. The acceleration and deceleration of the electric gripper is controllable, the impact on the workpiece can be minimized, the positioning point is controllable, and the clamping is controllable .

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Applicable object

  • small cube

  • small ball

  • long object

Installation and use

  • Check that the kit has everything: LEGO connectors, clamping claws with connecting wires, connecting wire extensions
    alt text

  • Jaw mounting:

    • Structure Installation:

      1. Insert the LEGO connectors into the sockets reserved for the clamping jaws, which can be installed in two different directions as required:

        Method 1 Method 2

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

        Method 1 Method 2

    • Electrical Connections:

      1. Connect the extension cord to the jaws:

      2. Plug in the robotic arm control interface:


        Method 1
        Method 2


  • Software-driven testing:

    To test if the jaws are available after installation, use myBlockly. myblockly download

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


  • Programming Development:

    Programming the jaws using python
    python download

    1. 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 needed

    2. Perform function programming: alt text

      The code is as follows:

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

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

# All three of the following control the jaws open-close-open
# 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)
      • 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("COM3", 115200)

# All three of the following control the jaws open-close-open
# 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)

    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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