QB Robotics qb SoftClaw Скачать руководство пользователя

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

General Manual

Содержание qb SoftClaw

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

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

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

Страница 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...

Страница 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...

Страница 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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