Yet another Gripper post...

Hitec robotics including ROBONOVA humanoid, HSR-8498HB servos, MR C-3024 Controllers and RoboBasic
9 postsPage 1 of 1
9 postsPage 1 of 1

Yet another Gripper post...

Post by DirtyRoboto » Tue Feb 20, 2007 7:48 pm

Post by DirtyRoboto
Tue Feb 20, 2007 7:48 pm

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 :P ) ****
phpBB [media]

http://www.youtube.com/watch?v=If-_ojUnens

Marcus
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 :P ) ****
phpBB [media]

http://www.youtube.com/watch?v=If-_ojUnens

Marcus
Last edited by DirtyRoboto on Thu Feb 22, 2007 9:12 pm, edited 1 time in total.
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Post by Pev » Tue Feb 20, 2007 8:10 pm

Post by Pev
Tue Feb 20, 2007 8:10 pm

Cool, like the sprung thumb.

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?

Cheers

Pev
Cool, like the sprung thumb.

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?

Cheers

Pev
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Post by DirtyRoboto » Tue Feb 20, 2007 9:48 pm

Post by DirtyRoboto
Tue Feb 20, 2007 9:48 pm

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.
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.
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Post by Pev » Tue Feb 20, 2007 10:07 pm

Post by Pev
Tue Feb 20, 2007 10:07 pm

Cool solution as it lets you control the amount of grip

Pev
Cool solution as it lets you control the amount of grip

Pev
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Post by onesandzeros » Tue Feb 20, 2007 11:10 pm

Post by onesandzeros
Tue Feb 20, 2007 11:10 pm

cool concept
cool concept
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Post by gdubb2 » Tue Feb 20, 2007 11:12 pm

Post by gdubb2
Tue Feb 20, 2007 11:12 pm

Great grips..

I like the idea of the spring loading. I may have to return to the drawing board..

Gary
Great grips..

I like the idea of the spring loading. I may have to return to the drawing board..

Gary
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Post by beermat » Wed Feb 21, 2007 1:50 am

Post by beermat
Wed Feb 21, 2007 1:50 am

Interesting concept. YouTube says the video is not available now, BTW.....
Interesting concept. YouTube says the video is not available now, BTW.....
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Post by Humanoido » Wed Feb 21, 2007 5:31 pm

Post by Humanoido
Wed Feb 21, 2007 5:31 pm

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.
Humanoido
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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Post by DirtyRoboto » Wed Feb 21, 2007 6:26 pm

Post by DirtyRoboto
Wed Feb 21, 2007 6:26 pm

Yea, I bought a few servos and got some various brackets to test out some madcap designs I have.
I will try and post some photos so you can see what I have done. Start to finish took me about 50 mins.

Marcus
Yea, I bought a few servos and got some various brackets to test out some madcap designs I have.
I will try and post some photos so you can see what I have done. Start to finish took me about 50 mins.

Marcus
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