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bcastetsbcastets Vacuum Beta tester Posts: 260 Handy
I would like to share with you a solution to integrate the Robotiq 3F gripper on TM robot.



The 3F is quite large compare to Hand-e or 2F gripper. The 3F gripper have to we offset from the flange to be able to mount the 3F gripper without entering in collision with the camera.
Hopefully Robotiq have an adaptor plate to offset the 3F. The plate have been initially designed to offset the 3F on UR robot flange so that the 3F does not enter in the field of view of the Robotiq wrist camera.

I would recommend to use Modbus TCP protocol because it is well manager by the robot.

Necessary items for integration are:
  • AGS-001-MTCP (3-F Gripper - Modbus TCP/IP)
  • AGS-APL-173 (Wrist Adapter Plate S-173)
  • AGS-CPL-101 (3-Finger Coupling S-101 )



 

With this setup the distance between the gripper and the camera is quite close. The CAD assembly indicate a 1.52mm clearance.


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