Newly Launched Force-Controlled Gripper for Robot Grasping

1. Why Is A Excellent Force-Controlled Gripper So Vital?

It allows for precise control over the amount of force applied during the grasping process. This precision is crucial for handling a variety of objects with different fragilities and shapes without causing damage. It also enables the robotic to adapt changes in the environment, such as varying object weights or slippage, ensuring a secure grip. Furthermore, the feedback information for tasks that require delicate manipulation, making force-controlled grippers essential for advanced robotics applications.

In conclusion, grasping different objects should apply varying force to prevent the object from slipping or being deformed.

2. OverView to myGripper F100 & myCobot 320 M5

• myGripper F100

myGripper F100 provides powerful support for precision work and complex tasks. Making the robotic arm capable of more complex projects.

Gripping Judgment: The gripper can provide feedback information on the status of the object being gripped, such as whether the object is held, whether the object has fallen, and whether it is in motion.

Smart Screen: Real-time gripper information can be accessed through the screen, and the gripper can be controlled via buttons without the need for coding.

Wide Practicality: The width range of ther gripped object is 0-100 mm, and the gripper support for 10 levels of flexible torque adjustment and a control frequency of up to 100 Hz, adaptable to various robotic gripping operation scenarios.

Force and Position Control: Users can adjust the force according to their needs to accommodate the gripping of different objects.

Multiple Communication Methods: The gripper body uses standard Modbus-RTU protocol and IO mode for control, facilitating its use across different devices.

• myCobot 320 M5

This robotic arm has a maximum arm span of 350 mm, a maximum payload of 1 kg, and supports different programming languages, such as python, C#, C++, Arduino, etc., with a high cost performance. This product comes with an M5Stack control board, you can develop programs according to the tutorial easily.

• Python Libary for myGripper F100 & myCobot 320 M5

Additionally, these two products can use the same Python function library for development, and the code is open source, making the development process very easy for beginners. It can be easily accessed by using pip.

3. Preparations : Connect hardware & Set up Environment

• Connect Hardware

Install the clamp connector onto the end flange of the robotic arm using screws and washers.

Use screws to install the clamp on the connecting piece again.

Finally, the gripper and the robotic arm can be connected with the M8 air line.

• Set Up Environment

PC is required to use the MyCobot 320 M5. Install python, pymycobot library and usb serial port driver on your computer, please refer to the environment configuration section of gitbook below. Product Feature · GitBook

4. Calibrating the Gripper

After connecting the gripper to the end of the robotic arm, you can run the following code. The gripper will first be stretched to its maximum and then fully closed, completing the calibration.

from pymycobot import MyCobot320

mc=MyCobot320("COM3",115200) # Change the serial port number of the robotic arm
# Declare MyCobot320

mc.set_pro_gripper_calibration(gripper_id=14)
# Function: Set the zero position of the force control gripper. 
# (need to set zero position for the first time to use )
# gripper_id (int):MyGripper ID, default[14], range[1 ~ 254].
# return(int): 0 - fail ,  1 - success.

5. Demos

• A: Set Appropriate Force to Grip A Plastic Bottle

from pymycobot import MyCobot320
import time

mc=MyCobot320("COM3",115200) # Change the serial port number of the robotic arm
# Declare MyCobot320

mc.set_pro_gripper_torque(gripper_id=14, torque_value=10)
#Function: Set torque of force control gripper.
#gripper_id   (int): MyGripper ID, default[14], range[1 ~ 254].
#torque_value (int): range [1 ~ 100] .
# return      (int): 0 - fail , 1 - success .

print(mc.get_pro_gripper_torque(gripper_id=14)) # Print the torque value
#Function: Read the torque of the force control clamp.
#gripper_id (int): MyGripper ID, defaulte[14], range [1 ~ 254].
#return     (int): 100 ~ 300

mc.set_pro_gripper_open(gripper_id=14)
#Function: Open gripper.
#gripper_id (int):MyGripper ID, default[14], range[1 ~ 254].
#return     (int):0 - fail ,  1 - success.

time.sleep(3)
#delay

mc.set_pro_gripper_close(gripper_id=14) # Tcompletely close the gripper
#Function: close the gripper (need to set zero position for the first time to use )
#gripper_id (int):MyGripper ID, default[14], range[1 ~ 254].
#return     (int):0 - fail ,  1 - success.

• B: Set Varying Force to Grip and Place Different Objects

from pymycobot import MyCobot320

import time

mc=MyCobot320("/dev/ttyAMA0",1000000)#Change the serial port number of the robotic arm

mc.set_pro_gripper_torque(14,10)
# Set torque of force control .

print(mc.get_pro_gripper_torque(14))
# Function: Read the torque of the gripper.

mc.set_pro_gripper_open(14)
# Open gripper.

start_angles=[19.68, -1.23, -91.4, -0.52, 90.08, 60.29]

# Define a set of starting joint angle of the robotic arm

target_coords=[[231.3, -61.3, 232.7, 178.35, -2.7, -130.56],[231.3, 65.3, 232.7, 178.35, -2.7, -130.56]]

# Define a set of position which the force controlled gripper reached to ( in Cartesian space)

end_angles=[80,0,-85,0,90,60]

#  Since object recognition with camera is not used in this case, for the clamping and handling of objects, we declared a fixed starting and ending joint angle and the Cartesian coordinate system of objects to represent the target pose of each movement, and called it in the cycle

for i in range(len(target_coords)):

    mc.sync_send_angles(start_angles,50)

    mc.send_coords(target_coords[i],100,1)

    time.sleep(2)

    mc.send_coord(3,165,50)

    time.sleep(2)

    mc.set_pro_gripper_close(14)

    time.sleep(2)
 
    mc.send_coords(target_coords[i],100,1)

    mc.sync_send_angles(end_angles,100)

    mc.set_pro_gripper_open(14)
   
    time.sleep(2)

Summary

In this case, we learned about myGripper F100, an advanced end-effector for robotic arms that precisely controls the torque applied to objects, and the myCobot 320 M5 arm. The design of the gripper allows it to adapt to a variety of grasping tasks, especially those requiring delicate manipulation. The core advantage of the force grip is its precise torque control capability, making it ideal for educational materials and research laboratories.

Through this case, we hope to stimulate the interest of major industries in force control grippers and encourage them to apply this technology to various industries.

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