Posted: Tue Feb 20, 2007 6:48 pm Post subject: Yet another Gripper post...
I have just (as of yesterday) finished my first attempt at a gripper, and have been playing with it for a good few hours.
I have just done a video for you guys so you can grasp the concept (hehe) of how the grippers work.
I went for a design that was a fixed thumb and movable grasp. I decided that I wanted to introduce tolerance into the design by having the fixed thumb plate, it would flex but also offer good grip so that the servo can rotate to its end stop without great stress, yet also offer a good fixed surface to grip against.
**** THIS IS THE FIRST EVER EMBEDDED YT CLIP ON THIS BOARD (SO THERE ) ****
I haven't tried this with the Hitec Servos but is there any way to read the current load? I used this technique with the Bioloid AX-12 servo to set a load threshold to stop the servo when the gripper had got hold of the object?
This is just stage 1. The bracket will be replaced by a custom part and the thumb will evolve in its shape.
I would not consider touch or force feedback in this config. I would look at triggering different grip routines by remote. I would section the grip into 6 degrees. 1 is light and 6 is full. If I go over by one then the flex on the thumb takes it up. _________________ In servo's we trust!
Joined: 05 Dec 2006 Posts: 574 Location: Deep in the Heart of Asia
Posted: Wed Feb 21, 2007 4:31 pm Post subject:
I like it. Great preliminary. Did you buy an extra bracket and servo, or have a spare Robonova for parts? After affording RN, there's not much cash to spend so I'm looking for low cost but highly workable and good looking.
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