Mercury A1 Control

Hardware Installation

First install the connector on the smart hand

Then install another connector on the end flange of the robot arm

Then install the smart hand on the end connection flange, and fix the 4 holes on the top, bottom, left and right with screws

Finally, connect and tighten with M8 aviation plug wire

Software Installation

Dependency Library Installation

pip install pymycobot --upgrade

Example program

from pymycobot import Mercury
import time
me=Mercury()
me.set_hand_gripper_pinch_action_speed_consort(14,4,1)
me.power_on()
target_angles=[
[-11.326, 0.245, -0.909, -122.652, 5.459, 167.24, 0.38],
[-11.327, 13.361, -0.902, -122.646, 5.46, 167.24, 0.381],
[-11.319, 6.808, 16.44, -117.003, 5.461, 167.24, 0.39],
[-11.324, 18.251, 16.324, -117.001, 5.461, 167.241, 0.39]

]

def wait():
    time.sleep(0.2)
    while me.is_moving()==1:
        pass

for i in range(len(target_angles)):
    me.send_angles(target_angles[i],20)
    wait()
    if i ==1:
        me.set_hand_gripper_pinch_action_speed_consort(14,4,8)
        time.sleep(2)
        me.send_angles(target_angles[i-1],20)
        wait()
    elif i ==3:
        me.set_hand_gripper_pinch_action_speed_consort(14,4,1)
        time.sleep(2)
        me.send_angles(target_angles[i-1],20)
        wait()

Effect display