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QBSOFTHAND2 RESEARCH USER MANUAL —

15

INSTRUCTIONS

4

Center (4) on the diameter 63 mm of (2),

taking care that the plug fits into one of the

four d6 mm through holes.

5

Fix axially the hand by tightening the 8

screws (5).

You need the 2 mm Allen wrench.

5.2 Cable connections

To power and connect the qb SoftHand2 Research to UR robots' control box or a workstation computer,

please follow the instructions in the table, using the provided kit.

For this SVG the export flag is not set!

The following images include an external power supply kit

(sold separately)

. If your robot's

control box allows to power external devices, it is not necessary.

In this case, please read the following steps carefully.



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Содержание SoftHand2 Research

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

Страница 2: ...to 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 wil...

Страница 3: ...8 3 4 Electrical characteristics 9 3 5 Tool connector pinout 9 4 Description 11 4 1 General 11 4 2 Characteristics and key features 12 4 3 Standard customization 12 5 Mounting and wiring 13 5 1 Tool m...

Страница 4: ...8 5 The USB flash drive is not working 44...

Страница 5: ...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 hazard av...

Страница 6: ...SoftHand2 Research 24 V N 1 ISO 9409 1 50 4 M6 flange adapter N 1 3m main cable N 1 USB to RS485 converter with extension cord N 1 USB flash drive GUI for Linux and Windows Manual Datasheet N 1 cylind...

Страница 7: ...m 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 energy remains in t...

Страница 8: ...1000 V AC The products described in this device manual do not fall within the scope of this directive since they are intended for lower voltages 2 4 Environmental conditions Wrong environmental and op...

Страница 9: ...roduct have been chosen in accordance with the EU RoHS directive 2011 65 EU they are produced with restricted use of hazardous substances to protect the environment Observe national registration requi...

Страница 10: ...data 3 1 Mechanical dimensions The figure below shows the overall dimensions of the qb SoftHand2 research valid for both left and right configurations distances and tolerances in the drawing are noted...

Страница 11: ...CoM y coordinate OTY mm 96 0 96 0 Hand opened CoM z coordinate OTZ mm 1 5 1 5 Hand closed CoM x coordinate OTX mm 2 6 2 6 Hand closed CoM y coordinate OTY mm 85 5 85 5 Hand closed CoM z coordinate OT...

Страница 12: ...oftHand The center OT coincides with the center of mass of the hand and its position is defined by the distance from OM The ZT axis is normal to the palm outgoing positive and the YT axis follows the...

Страница 13: ...uty cycle 69 Operating temperature C 5 20 50 Relative humidity 5 80 Typical noise level dB 44 62 72 Starting spike current may be greater but it is instantaneous Only the non condensing case is to be...

Страница 14: ...DESCRIPTION 1 White RS485 Figure 3 User view 2 Brown RS485 3 Green 4 Yellow 5 Gray 24V 6 Pink GND 7 Blue 24V 8 Red GND 24VDC and GND must be provided by an isolated Power Supply Unit WARNING Any erro...

Страница 15: ...d manipulate different shaped objects showing an unparalleled level of simplicity and flexibility Combining the two Synergies and or the movements of motors the qb SoftHand2 Research can performs diff...

Страница 16: ...es read measurements from the connected devices motors position and or currents get and set configuration parameters 4 2 Characteristics and key features Flexibility adaptivity and robustness thanks t...

Страница 17: ...ce to the robot arm The device can be mounted on any robot equipped with a mounting interface ISO 9409 1 To assemble the hand on the robot arm please follow the following instructions INSTRUCTIONS 1 I...

Страница 18: ...RELEASE V1 0 2 INSTRUCTIONS 2 Center 2 on the wrist diameter 63 mm taking care that the cylindrical pin 1 fits into one of the four d6 reamed through holes 3 Fasten 2 to the robot wrist by tightening...

Страница 19: ...ch 5 2 Cable connections To power and connect the qb SoftHand2 Research to UR robots control box or a workstation computer please follow the instructions in the table using the provided kit For this S...

Страница 20: ...purchased our external power supply connect the power cable C3 at the power supply unit A If you have not required the external power supply the C1 cable has two unconnected red and grey ends These a...

Страница 21: ...readed ring on the body of the receptacle max tightening torque 0 2 Nm Table 1 Installation guidelines of the SoftHand2 Research The qb SoftHand2 Research has to be used only via C APIs or ROS package...

Страница 22: ...flange as a Digital Input for the robot on which the gripper is mounted If your robot provides digital inputs you can connect one of these wires for example the yellow one to a digital input port The...

Страница 23: ...he left When a serial port is found the Connect button becomes available and by clicking on it you scan the serial resource to find every qbrobotics device connected to the system If there is at least...

Страница 24: ...tate and its settings e g firmware version parameter values measurements Devices ID shows a list of device IDs connected to the system by selecting one of them from the drop down menu you are able to...

Страница 25: ...ynergies enable an auto refreshing threads that shows respectively the encoder measurements the motor current in milliamperes and the actual synergies Sliders It is possible to set the synergies to de...

Страница 26: ...rgies to the device Manipulation slider and dial It is a simple example of how to control motors in order to perform object manipulation Using this slider one motor moves in the opposite direction of...

Страница 27: ...s the following ROS packages versions or newer qbdevice ros 3 0 4 qbhand ros 3 0 1 Install the qb SoftHand2 Research packages for a ROS user is straightforward Nonetheless it is necessary to pay atten...

Страница 28: ...rol several qb SoftHand2 Research devices connected to the system The first and recommended groups all the Hardware Interfaces together thanks to the combined_robot_hw14 and exploits them as a unique...

Страница 29: ...act with the connected devices This Node is called Communication Handler Details To understand what is hiding under the hood have a look at the C classes overview which sums up all the main concepts o...

Страница 30: ...l Node This is a simple example when starting the Communication Handler with two qbrobotics devices connected on two distinct USB ports INFO 1657115843 575789176 CommunicationHandler Found 1 qbrobotic...

Страница 31: ...d2m_chain launch explains how to control one or several devices Control Modes For the sake of simplicity we are going to cover all the control modes for a single qb SoftHand2 Research but it is just a...

Страница 32: ...to send command positions to the device set_commands_async true Choose whether or not to send commands without waiting for ack use_rviz false Choose whether or not to use rviz If enabled you should s...

Страница 33: ...1 qbhand2m1 control qbhand2m1_synergies_trajectory_controller command trajectory_msgs JointTrajectory header seq 0 stamp secs 0 nsecs 0 frame_id joint_names qbhand2m1_manipulation_joint qbhand2m1_syn...

Страница 34: ...add use_controller_gui true to the general roslaunch command be sure that the opposite use_waypoints is not used After a while a GUI should appear to screen with two empty drop down menus a red enable...

Страница 35: ...ny number of position waypoints with timing constraints and set the robot to cycle infinitely on it because of the loop it is recommended to set the first and last waypoint in a similar configuration...

Страница 36: ...onfiguration is as follows waypoints time 2 0 joint_positions qbhand2m1 0 0 0 0 time 4 0 joint_positions qbhand2m1 0 48 1 0 time 8 0 joint_positions qbhand2m1 0 48 1 0 time 9 0 joint_positions qbhand2...

Страница 37: ...a qb SoftHand2 Research or the first time you are using ROS or even both it is always a pleasure for us to solve your problems but please consider first to read again the instructions above and the R...

Страница 38: ...ports retrieves all the serial ports connected to the system returns their number and fills the given argument with the connected serial port names void openRS485 comm_settings file_descriptor const c...

Страница 39: ...ticks which lay in range 0 23000 6 3 3 qbdevice C API v7 qbdevice C API v7 are available on qbrobotics Bitbucket public repository25 The CMake26 based project contains two submodules serial used to h...

Страница 40: ...i 7 x x serial include the folder libs must contain the compiled libraries obtained by following the instructions in the previous paragraph the folder src must contain the main cpp that exploits qbrob...

Страница 41: ...er first to read this guide carefully You are a beginner user stuck on something you completely don t know how to solve or you are experiencing unexpected behaviour feel free to contact us at support...

Страница 42: ...AL SEP 8 2022 RELEASE V1 0 2 7 Maintenance and warranty 7 1 General Products of the company qbrobotics s r l are produced using the most modern production methods and are subject of strict quality ins...

Страница 43: ...tu 16 04 18 04 and 20 04 are supported and recommended w r t the other Linux distributions Microsoft Windows As far as July 2020 Windows 10 version 1809 and Windows 10 Enterprise 2015 are supported an...

Страница 44: ...your system if not already installed it is good use to install a c compiler Below here are listed all the necessary instructions for each operative system NOTE Note don t forget to logout or reboot 1...

Страница 45: ...look for path select it and click edit Go to the end of the Variable Value field add a separator and add the path to the binary folder for gcc usually it is in C MinGW bin Download the make utility f...

Страница 46: ...general polyamide 6 i e without glass fiber it is approximately 0 4 8 3 The glove is deteriorated broken 8 3 1 Problem The glove is one of the component of the hand more prone to wear and tear The pl...

Страница 47: ...te from its original place As you can see in the video I attached below you can try to manually adjust the thumb configuration by pulling or stretching each phalanx If you make sure that thumb phalang...

Страница 48: ...m It is not so common but it may happen that any of the files provided through the USB flash drive is corrupted 8 5 2 Solution You can find all the USB flash drive files in our download section at the...

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