Flexible Gripper

Compatible models: myCobot 320, myCobot Pro 630

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Specifications:

Flexible gripper: used for gripping objects

Introduction

• Traditional industrial suction cups need to absorb the flat surface of the material. In more and more working conditions, the suction surface is easy to damage the panel or components. The soft-touch gripper pinches the edge to grab the panel easily and without trace or damage, ensuring that the product surface is flawless. , Improve the yield rate.

• The modular design of the soft-touch gripper is light in weight and can be freely arranged and combined according to the size of the panel.

• The clamping force of traditional cylinders is generally large, and the force is difficult to control. The edge of the clamping panel is easy to pinch and warp. The single-finger clamping force of the flexible jaws is precise and controllable, and will not pinch fragile workpieces.

working principle

• The flexible gripper is an innovative bionic flexible gripper developed by researchers to imitate the shape of the starfish's arms and legs. The "fingers" of the soft claw are made of flexible polymer silicone material, which can be bent and deformed by inflation. It can adaptively cover the target object like a starfish, and can complete the flexible and non-destructive grasping of special-shaped and fragile objects. Pick.

Applicable object

• Objects of any shape within a reasonable size

Mall link:https://shop-elephantrobotics-com.translate.goog/collections/mycobot-pro-600/products/mycobot-pro-soft-gripper?_x_tr_sl=auto&_x_tr_tl=zh-CN

Installed for use

• Required for use with an air compressor:

  1. Insert the black plug into the plug;

  2. insert the matching red hose into the socket on the machine:
     

  3. The red button is the on/off switch, pulling it outwards turns it on, pressing it back turns the machine off:

• The clamping jaws are mounted:

  You can view the installation instructions for the corresponding accessory in the video:

  1. Connect the other end of the red hose from the air compressor to the connector on the pneumatic controller:
     
  2. Use the blue hose that comes with the flexible gripper to connect the gripper to the pneumatic controller:
     
     
  3. Attach the flexible gripper to the end of the arm with the matching screws:
     

• Electrical connections:

  1. Two connection wires are supplied, one for power supply and one for control.

  2. At the base of the arm, the wire for power supply is connected in red to the 24V connector and in black to the GND connector. At the base of the arm, the red wire for power is connected to the 24V connector and the black wire is connected to the GND connector:
     

  3. Pneumatic controller terminal, power supply wire red connects to pneumatic controller 24V, black connects to pneumatic controller GND. control wire red connects to IN1, black connects to IN2:
     

     Be careful to connect to the "positive pressure" side, if the power supply is successful the display will light up. You can manually test if the connection is normal by switching on the compressor and pressing the button on the pneumatic controller, pressing it to the left (positive pressure) will contract the jaws, pressing it to the right (negative pressure) will open the jaws.

• Software driver test:

  Test that the jaws are available after installation, using myBlockly. 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 115200:
     
  3. Find Base in the list on the left and select the Set Pin Out module:
  4. Set pin number to 1 and output to 0:
     
  5. Find Time and select the Sleep module:
     
  6. Set the time as required, here set to 1s:
     
  7. Repeat the above steps for the final setup as follows:
     
  8. Click the green Run button in the upper right corner to see the jaws close-open once.

• Programming Development:

  Programming development of jaws using python. python dowanload

  1. Create a new python file:
     Right click on the desired file path to create a new python file:
     

     The name of the file can be changed as needed

     

  2. Perform functional programming:

     The code is as follows:

     • Pi Version:

     from pymycobot.mycobot import MyCobot
     from pymycobot import PI_PORT, PI_BAUD # When using the Raspberry Pi version of mycobot, you can refer to these two variables for MyCobot initialisation
     import time
     
     # Initialise a MyCobot object
     mc = MyCobot(PI_PORT, 115200)
     
     # Control the jaws to close-open:
     # Use the gripper state interface 0 for open, 1 for closed
     mc.set_basic_output(1, 0)
     time.sleep(1)
     mc.set_basic_output(2, 1)
     time.sleep(1)
     mc.set_basic_output(1, 1)
     time.sleep(1)
     mc.set_basic_output(2, 0)
     time.sleep(1)
     
     # See the python API for details on interface usage.
     

  3. Save the file and close it, and open a command-line terminal by right-clicking on an empty space in the folder.

     

     Input:

     python FlexGripperPro.py
     

     

     You can see that the jaws are closed-open