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Samuel_Bouchard
Posts: 150 Handy
Using the Robotiq Gripper as a Hand Tool Holder |
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/ Most recent by Tyler_Berryman
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I was asked by a customer to find examples of Robotiq grippers used as gripper and tool holders. I found these by @matthewd92
https://www.youtube.com/watch?v=a_g3WrgOEHA
https://www.youtube.com/watch?v=-bFgAvCDFqI
And this one with the 3-Finger Gripper on a Yaskawa:
https://www.youtube.com/watch?v=3Vm-c65DA6I
Do you have more examples?


And this one with the 3-Finger Gripper on a Yaskawa:

Do you have more examples?
Tagged:
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Hope you enjoy,
Matt
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A more complex method would be to slice the path up into tiny segments, and then to measure the force being applied and make adjustments in the Z direction to either lift or lower the tool slightly at each slice of the motion. So if I want to move from point A to point B that is 200mm away, I could basically loop something like this:
I Think there is a way to incorporate the force sensor into the built-in force wizard but I couldn't quickly find something on the UR website or the Robotiq website, @Tyler_Berryman or @Etienne_Samson do you guys have any information on how to do that?
You can use the path recording feature within the robot's force mode to give the robot compliance. I have used this method for a few insertion applications, but I have never tried it in a polishing application. I'll try it out, and I'll get back to with some results.
Robotiq Integration Coach
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1-418-380-2788, option 3
We used the path node inside of the force wizard for a sanding application, same basic principle as polishing, and it worked reasonably well. If I had taken more time to more accurately create the path it probably would have worked better, it was done as a "joke" for a video and so we did it in like 10 minutes. Its the video that is in the post further up.
Robotiq Integration Coach
[email protected]
1-418-380-2788, option 3