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


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  • Tim_SmithTim_Smith Posts: 38 Apprentice
    @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?


  • baghakianbaghakian Posts: 3 Apprentice
    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).

  • matthewd92matthewd92 Posts: 892Founding Pro, Tactile Sensor Beta Testers Handy
    @Tim_Smith both Schunk and ATI make tool changers that are suitable for use on the UR series of robots.  Actually, ATI makes the smaller ones for Schunk or something like that.  Here is a link to the ATI product range.
  • Tim_SmithTim_Smith Posts: 38 Apprentice
    edited November 2016
    Thanks a lot for the information! I saw this video on YouTube


    Looks like a pretty quick system to change tools. Has anyone used a Millibar Tool changer?

    What kind of repeatability can you get on the TCP's position when using a tool changer?
  • matthewd92matthewd92 Posts: 892Founding Pro, Tactile Sensor Beta Testers Handy
    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. 
  • SebastienSebastien Posts: 219 Handy
    @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?

  • SebastienSebastien Posts: 219 Handy
    @Tim_Smith
    I just looked online and you can simply buy online!

    Neat!
  • Tim_SmithTim_Smith Posts: 38 Apprentice
    @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?
  • matthewd92matthewd92 Posts: 892Founding Pro, Tactile Sensor Beta Testers Handy
    @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
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