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https://www.universal-robots.com/support/
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—
FAQ AND TROUBLESHOOTING
RELEASE 1.0.1 — 15 JULY, 2020
1.
2.
3.
8.9 Grasping with a custom finger position
8.9.1 Problem
The qb SoftHand adapts the finger position to envelop the object shape as much as possible
—
i.e. automagically.
However the mechanical synergy of the hand always goes from a fully open
"slap"
configuration to a fully
closed
"punch"
.
If you are wondering whether it is possible to command the hand to change this behavior or not, the
answer is no.
8.9.2 Solution
As stated in
the
of the
manual
"The single-motor actuation makes the
hand [...]
simple-to-control (one single motor requires one single control signal to close and open the
whole hand)"
. Thus there is no way to control each finger independently. For such a purpose you would
need several motors with the consequent increase in complexity of the control.
Anyway, since the qb SoftHand can grasp a huge variety of objects with just one synergy, we prefer to
have a simple and powerful device w.r.t. a bit more versatility alongside with a complex control system
behind.
Quite for sure you can find another way to perform the task you have in mind. Have a look at our
suggested articles and try to exploit those tips.
If you want some help with a specific task you will need to raise a "Feasibility Request" in our portal.
8.10 Simplified CAD models of the qb SoftHand
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8.11 URCap installation
You can find the most up-to-date installation process in the official robot manual provided by
8.11.1 Step-by-step guide
CB-Series:
From the start view, go to
"Setup Robot"
;
Then click on
"URCap"
to access the URCap settings;
Insert the provided USB flash drive and click on the
"plus"
at the bottom of the page;