K-Junior Gripper User Manual rev 1.0
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1
INTRODUCTION
The hardware of K-Junior is based on a modular concept. The Gripper is a turret that
can be plugged on the basic configuration making object manipulation possible. Due to
the configuration of this turret, other turrets can be plugged on the top of it, but can't be
under the Gripper. The gripper must be the first turret plugged on the K-Junior in order to
keep mechanical fixings accessible.
In order to match which each configuration, the K-Junior Gripper is available in two
different versions.
The K-Junior gripper has an additional Battery (1350mAh) to keep the autonomy of
the K-Junior unchanged when used with the Gripper (up to 3h). The charger is on board,
an external power supply is provided with the Gripper. The monitoring of the battery is
made by the CPU.
A microcontroller installed in the gripper manages local functionalities: position and
speed control of the arm and gripper, battery management and communication with the K-
Junior. A I2C network connects this local microcontroller to the K-Junior processor. Some
registers accessible by the I2C bus allows to control the Gripper from the main processor,
where the high level control structure can be implemented.
1.1
How to use this handbook
This manual is organised into four chapters and an appendix. To learn how to make
the best use of your gripper turret you are urged to read all of chapters 2 to 4. The
appendix can be referred to as necessary.
•
Unpacking and Inspection: K-Junior Gripper’s package description and first start-up
•
The K-Junior Gripper: Description of all the gripper’s functionalities
•
Connections: Explanation on how to connect (or disconnect) the gripper to the robot
•
Gripper use: Instructions to program the gripper using the high level function or
access directly to the gripper registers.
