ROBOTIQ 2-Finger 85 - Picking Features: Force Control, Re-Grasp and Object Detection

Robotiq 2-Finger Adaptive Gripper Instruction Manual
Robotiq inc. © 2016 46
4.5 Picking features : Force control, Re-grasp and Object detection.
As stated in previous sections, object picking is done via a simple "Go To " command, bit calls for movement, while byte is the aimed position, rGTO rPR rS
and will be the desired speed and force settings respectively. This section describes key features in object picking applications :P rFR
Force control
Re-grasp
Object detection
Force control :
The 2-Finger Gripper gripping force is controlled via the byte (see ). rFR Section 4.3, robot output registers & functionalities The Gripper behavior will
change according to the rFR force requested.
rFR = 0 : Very fragile objects or deformable objects mode
Lowest force
Re-grasp feature is off
1 127 : Solid & fragile objectsrFR
Low torque mode
Re-grasp feature is on
128 255 : Solid & strong objectsrFR
High torque mode
Re-grasp feature is on
Table below shows the expected applied force according to the payload material hardness, speed setting and force setting . All tests were donerSP rFR
with the latest 2-Finger Gripper generation with firmware GC3-1.3.9. Data was obtained with a Load Cell from .Phidget, S Type, model 3138
FINGER PAD PAYLOAD MEASURED FORCE
MIN / MAX (N)
TYPE HARDNESS TYPE HARDNESS 2-Finger 85 2-Finger 140
Steel 4340 220 HV Steel 4340
220 HV
3
25 - 220
Figure 4.5.1
15 - 120
Figure 4.5.1
Aluminium 6061
1
95 HV Aluminium 6061 95 HV 25 - 220
Figure 4.5.2
15 - 120
Figure 4.5.2
Aluminium 6061
1
95 HV
Silicone (TIP-204)
2
60 A Durometer
4
25- 220
Figure 4.5.3
15- 120
Figure 4.5.3
Aluminium 6061
1
95 HV Silicone rubber 40 A Durometer 25 - 155
Figure 4.5.4
15 - 100
Figure 4.5.4
Aluminium 6061
1
95 HV Neoprene rubber 10 A Durometer 25 - 115
Figure 4.5.5
15 - 75
Figure 4.5.5
Aluminium 6061
1
95 HV Polyurethane rubber 30 OO Durometer 15 - 65
Figure 4.5.6
10 - 40
Figure 4.5.6
1
Available with blank fingertip AGC-TIP-203-002.
2
Available with flat silicone fingertip AGC-TIP-204-002.
refers HV
3
to Vickers hardness test.
refers Durometer
4
to Shore durometer hardness, scale A or scale OO.