Vacuum Gripper Installation

From sdk-wiki
Jump to: navigation, search

Description

This page describes installation of the Vacuum (Suction) Grippers.

Required Hardware

  • 3mm Allen (Hex) Wrench

Vacuum Gripper Type

Vacuum Gripper Type v2.png Vacuum Gripper v2


Vacuum Gripper Type v1.png Vacuum Gripper v1 (no longer available)


    Installation File

    PDF: Baxter Vacuum Gripper Guide v2

    Step 1: Mount Gripper

    This step describes proper attachment of the suction gripper.

    Vacuum Gripper Mount v2.png


    A: To install vacuum generator, remove plug with 8mm hex key and in the same port, screw in vacuum generator, red tip first. Hand tighten.

    B: Hook Vacuum Cup Gripper onto two posts on tool plate

    C: Insert plug into receptacle until you hear a “click”

    D: Tighten both screws with enclosed 3mm hex key

    Step 2: Install Vacuum Generator

    Vacuum Gripper Wiring v2.png

    1: Remove Lower Front Panel using 2 thumb screws

    2: Squeeze cap collar and pull tubing to remove end caps from supply tube harness. Remove zip tie around tubes.

    3: Insert supply tubes into the “P” ports of each valve

    4: Using wire bundle attached to plate, connect wires to valves as shown. Valves should be oriented "A” (on front of valve) down, larger valve to outside. Right side is shown

    5: Using 2.5 mm hex key, screw valves in place using four M3 x 25mm screws provided

    6: Place gray foam gasket on valve as shown

    7: On same side as valve install, remove black plastic hole plug from Lower Front Panel

    8: After valves are installed, gently re-attach Lower Front Panel. Re-install 2 thumb screws to hold panel in place

    Determine air supply tubing diameter. Connect tubing to rear of robot at connector panel.

    • For 1/4” tube, insert tubing into adapter.

    9: For 6mm tube, remove adapter then insert tubing into fitting

    Step 3: Attach Vacuum Tubing to Arm

    Vacuum Gripper Tubing v2.png


    Note: Rethink Robotics recommends grounding the Gripper to the Pedestal using the provided ESD ground wire, routing it with tubing.

    A: Attach ground wire to same side as Gripper

    Remove pedestal bolt on selected side. Attach large ring terminal end of wire and toothed washer to pedestal. Hand- tighten bolt. Using a 17 mm wrench, TIGHTEN A HALF TURN MORE.

    B: Attach other end of ground wire as close as possible to vacuum cup

    Use part of your vacuum cup configuration, or a manifold block screw boss as shown. Fasten using M4 screw and toothed washer provided.


    Note: Make sure valves are installed before adding tubing. Check to ensure tubing is on same arm as installed valves.

    1: Starting at the Gripper, insert tubing into Gripper fitting. Push tubing into fitting firmly.

    2: Attach tubing (and optional wire) to each arm clip with zip ties, every 50cm as indicated.

    3: Firmly tighten zip ties to fix tubing in place. Do not crush tubing. Trim zip ties.

    4: Insert tubing end into valve port on Lower Front Panel.

    Connector panel.png

    Connect air supply to robot at the connect panel (Baxter's back)

    Important: Air supply should be 60 PSI (min) to 90 PSI (max). Air must be filtered and oil-free.


    Step 5: Attach Extensions (Optional)

    Note: Up to two extensions may be attached to each Vacuum Cup Gripper.

    Vacuum Gripper Extension v2.png

    1: Screw in extensions until snug

    A: No Extension

    B: One Extension

    C: Two Extensions

    Step 6: Attach Vacuum Cups

    Vacuum Gripper Cups v2.png


    A: Select Vacuum Cup

    Vacuum Cups should fit entirely on the object surface. Choose the smallest vacuum cup wherever possible. Choose a larger vacuum cup if robot cannot lift the weight of the object.

    Note: Baxter can lift a maximum weight of 5 lbs (2.27kg), including weight of gripper which is 0.3 lbs (145 g). Texture, irregular surfaces, items packaged in bags, etc. may require a different vacuum cup selection.

    B: Screw on Vacuum Cup until snug

    Linked Here


    Related Pages

    Installation File

    PDF: Baxter Vacuum Gripper Guide v1

    Step 1: Mount Gripper

    This step describes proper attachment of the suction gripper.

    Vacuum mounting.png

    A: Hook Suction Gripper onto two posts on hand

    B: Insert plug into receptacle until you hear a “click”

    C: Fasten Gripper with 3mm Hex and Screws

    Step 2: Install Vacuum Generator

    Using a 2.5mm hey key, loosen the two screws from the lower front panel.

    Remove lower front panel, gently pulling straight out.

    Generator install.png

    1: Plug wiring harness into socket

    2: Connect air in

    Remove plug from T-connection tubing.


    Important: Plug must remain in place if no vacuum generator is attached.


    Connect tubing to bottom part of vacuum generator (Air In).

    3: Connect air out

    Connect tubing exposed coming from the top of the panel to the top port of the Vacuum Generator

    4: Attach appropriate control wires

    Right Vacuum Gripper - plug wires marked SR-R and BR-R into vacuum generator.

    Left Vacuum Gripper - plug wires marked SR-L and BR-L into vacuum generator.

    5: Fasten generator to base

    Using included screws, fasten generator to metal plate on the same side as the corresponding gripper.

    6: Gently re-secure front panel

    Step 3: Attach Vacuum Tubing to Arm

    Suction tubing.png

    Starting at Gripper [1], loosely thread the tubing through the arm clips.


    Insert tubing end [6] into the UPPER air inlet. Leave any extra length of tubing between connections [5] and [6].


    Push tubing into air inlet until it stops.


    Rotate hose so as to not block the hand cameras.


    Step 4: Connect air supply to robot

    Connect air supply to robot at the connect panel (Baxter's back)

    Connector panel.png

    Important: Air supply should be 60 PSI (min) to 90 PSI (max). Air must be filtered and oil-free.


    Step 5: Attach Extensions (Optional)

    Note: Up to two extensions may be attached to each Vacuum Cup Gripper

    Screw in extensions until snug.

    Vacuum extensions.png

    A: No Extension

    B: One Extension

    C: Two Extensions

    Step 6: Attach Vacuum Cups

    Vacuum cups.png

    A: Select vacuum cup according to manipulated object.

    Vacuum Cups should fit entirely on the object surface. Choose the smallest vacuum cup wherever possible. Choose a larger vacuum cup if the robot cannot lift the weight of the object with a smaller one. Textured or irregular surfaces may require a larger vacuum cup.

    Note: Robot can lift a maximum weight of 5 lbs (2.27kg)


    B: Screw on selected vacuum cup until snug.

    Linked Here


    Related Pages