QB Robotics qb SoftClaw General Manual Download Page 1

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PLEASE READ CAREFULLY THESE INSTRUCTIONS BEFORE USE. DO NOT DISCARD: KEEP FOR FUTURE REFERENCE.

General Manual

Summary of Contents for qb SoftClaw

Page 1: ...PLEASE READ CAREFULLY THESE INSTRUCTIONS BEFORE USE DO NOT DISCARD KEEP FOR FUTURE REFERENCE General Manual...

Page 2: ...changes without notice the latest version is available on our webpage www qbrobotics com qbrobotics s r l does not assume any responsibility for errors or omissions In no case qbrobotics s r l will b...

Page 3: ...ss 5 3 3 Mechanical characteristics 6 3 4 Electrical characteristics 7 3 5 Tool connector pinout 8 3 6 Pad exchange system 9 4 Description 11 4 1 General 11 4 2 Characteristics and key features 12 4 3...

Page 4: ...Symbols and conventions STYLE DESCRIPTION Identifies information about practice or circumstances that can lead to critical damages on the device and to personal injury Attentions help you identify a...

Page 5: ...ter 24 VDC power supply unit with cables N 1 main cable of 3m N 1 USB to RS485 converter with extension cord N 1 set of magnetic pads N 1 USB flash drive URCap v3 Polyscope versions 3 8 5 2 Manual Dat...

Page 6: ...r removing it from the packaging The device can be used only by specially trained staff Disconnect the power supply before installation cleaning or maintenance operations Make sure that no residual en...

Page 7: ...significant reduction to the product s life 2 5 Environmental safety The qb SoftClaw must be disposed of in accordance with the applicable national laws regulations and standards All the components o...

Page 8: ...the qb SoftClaw distances and tolerances in the drawing are noted in millimeters mm and degrees Figure 1 qb SoftClaw drawings 3 2 Center of Mass The following table gives also the position of the Cent...

Page 9: ...he interface surface of the robot tool flange and the ZM axis is coincident with the tool flange axis of symmetry Ri is the i th revolute joint of the robot and O1 X1 Y1 Z1 is the base coordinate syst...

Page 10: ...SE V1 0 0 MINIMUM NOMINAL MAXIMUM Grasping force N 0 5 64 0 Grasping time s 1 0 Releasing time s 1 0 Look at the graph for details 3 4 Electrical characteristics MINIMUM NOMINAL MAXIMUM Power supply v...

Page 11: ...noise level dB 50 Starting spike current may be greater but it is instantaneous Only the non condensing case is to be considered 3 5 Tool connector pinout On the qb SoftClaw flange there is a Phoenix...

Page 12: ...er with desired kind of soft interface You can directly place the pad on its socket and it will be automatically constrained Figure 3 Magnetic soket on the finger 2 and magnetic pad 1 The pad is also...

Page 13: ...SOFTCLAW 10 Figure 4 Different kind of available pad from qbrobotics not included Only flat pad is provided in the kit For different or customized pad please ask a quotation to qbrobotics...

Page 14: ...amble 1 byte target slave id 1 byte payload length n byte payload 1 byte checksum for communication integrity A custom made single master multiple slave SMMS serial communication protocol is implement...

Page 15: ...o 64 N grasping force Up to 3 7 kg maximum payload Maximum closure time of 1 0 s Total weight of 780 g including aluminium flange and screws ROS packages and general C API available Grasp forces and p...

Page 16: ...follow the following instructions INSTRUCTIONS 1 Insert 1 into the 6 mm hole on the robot wrist 2 Center 2 on the wrist diameter 63 mm taking care that the cylindrical pin 1 fits into one of the four...

Page 17: ...of the four d6 mm through holes 5 Fix axially the device by tightening the 8 screws 5 You need the 2 mm Allen wrench Table 1 Installation guidelines of the qb SoftClaw on robot arm 5 2 Cable connecti...

Page 18: ...NSTRUCTIONS 1 Connect the main cable C1 to the RS485 USB converter B terminal block Then connect the RS485 USB converter B or the USB extension cord C2 to an USB type A available port Pay attention to...

Page 19: ...TCLAW 16 INSTRUCTIONS 2 Connect the main cable C1 to the power supply unit A 3 Connect the power cable C3 to the power supply unit A Pay attention to connect wires as follows GRAY wire 24VDC RED wire...

Page 20: ...tate the M8 connector when inserted into the receptacle Minimum curve radius of the cable 9 51 mm YELLOW and GREEN wires on C1 cable are optional They are used to enable the button on the qb SoftClaw...

Page 21: ...with your current linux username Ubuntu Packages If you prefer to leave your catkin workspace as it is you can simply install all the ROS packages from the Ubuntu official repositories sudo apt updat...

Page 22: ...mpilation feel free to ask for support on our Bitbucket8 Device Setup Connect a qb SofClaw to your system is basically a matter of plugging in a USB cable Nonetheless read carefully the manual to unde...

Page 23: ...he control loop independently w r t the rest of the system i e asynchronously Mixed configurations can be also achieved through a proper setup In such a case we can think of synchronous sub systems wh...

Page 24: ...n resources connected to your system and shows a list of the devices it has found By default it never scans again for new devices apart from asking it explicitly during the initialization of a control...

Page 25: ...all the control modes for a single qb SoftClaw but it is just a matter of putting things together and set the launch file parameters properly to control several devices together All the control modes...

Page 26: ...sition measurements from the device in two distinct packages max_repeats 3 The maximum number of consecutive repetitions to mark retrieved data as corrupted set_commands true Choose whether or not to...

Page 27: ...the launch file needed with several devices This enables the right menu which provides all the controllers available for the connected device Select the qb SoftClaw controller from the second drop dow...

Page 28: ...g the command from the terminal in this case device_name qbsoftclaw The following example control the qb SoftClaw to fully open and to grasp with three different force thresholds Waypoints describe th...

Page 29: ...rovide any support you need To help you in the best way we can we are asking you to do the most suitable of the following steps It is the first time you are holding a qb SoftClaw or the first time you...

Page 30: ...connected serial port names void openRS485 comm_settings file_descriptor const char serial_port opens the serial communication by acquiring the serial port resource and sets the given file descriptor...

Page 31: ...maller values result in a gripper behaviour different than the datasheet description 6 2 3 Usage example include iostream include string h include unistd h include include qbmove_communications h defi...

Page 32: ...urements file_descriptor device_id positions 0 std cout ERROR tfails while retrieving motor position std endl return 1 std cout INFO tshaft position is positions 2 std endl if commGetCurrents file_des...

Page 33: ...ndly we suggest to create a new cpp file e g claw_example cpp and copy and paste the code above At this point create a new folder for example named include in which you have to copy qbmove_communicati...

Page 34: ...e Active Inactive button The button of the tab allow About Info about the current GUI Store to USER save the changed parameters i e the device ID in the USER memory Restore from USER load the paramete...

Page 35: ...and Get Currents enable an auto refreshing thread shows respectively the encoder measurements or the motor current in milliamperes in the fields below Input and sliders Depending on the control modali...

Page 36: ...0 days from the date of their return to Buyer whichever expires the later Unless otherwise restricted by mandatory applicable law the warranty set forth herein is expressly in lieu of all other warran...

Page 37: ...SOFTCLAW 34 24 mailto support qbrobotics com For any support request please contact our support team24...

Page 38: ...wnload section at the bottom of the qb SoftClaw page26 8 2 PC drivers and requirements 8 2 1 OS requirements All the Long Term Support LTS releases of the following OS that have not reached the End Of...

Page 39: ...user_name with your current linux username Microsoft Windows Install the driver for your operating system version to allow the serial port access through something like COM7 LINUX FRIENDLY You do not...

Page 40: ...ath to the executable Go to System Properties and click on Environment Variables In the System Variable windows look for path select it and click edit Go to the end of the Variable Value field add a s...

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