Hi @baghakian, interesting demo therefrom Numatic! I'm curious: what's between the FT sensor and the gripper?

https://www.youtube.com/watch?v=NxS4KFCvfU0

Hello Sam, yes there is a tool changer on the robot to facilitate changing out end effectors.

@baghakian I wasn't aware that you could use a tool changer to facilitate the installation of end effectors. How do you manage the power of the gripper and the other end effectors when they aren't mounted on the robot? Do you remove the gripper's connections from the robot's controller? What kind brand of tool changer were you using in this demo?

there are a variety of tool changers.
some have pneumatic connections on both sides so air lines do not need to be disconnected.
some have both pneumatic and electrical connections (for sensors, etc).
some are manual disconnect and some are auto disconnect (like the ones used in CNC's).

I have not personally used a Millibar tool changer. When I spoke to Schunk at IMTS you're talking less than 0.001" variability. I know some of their systems talk about 5 micron repeatability on position from couple to couple. 

@Tim_Smith
I have not seen this Millibar tool changer before! They are nice! We have a client who is looking at using the robot in various applications so this would be something to consider to ease changing tools between applications. Do you have ball park figures for the cost of this tool changer?

@Sebastien I had not asked about the pricing for the Millibar tool changers. I really like the quick release mechanism that is similar to those found on bicycle wheels. Did you manage to find a spec on the repeatability for the millibar tool changer?
Does anyone have a ballpark figure for the tool changers from Schunk?

@Tim_Smith The ATI/Schunk took changers (fully automatic) are around $900 for the master and $500 for the tool plate.  The master is what goes to the robot, the tool plate is what adapts to all of the tools you want it to use.  Its been about two years since I got that quote