YueErro / robotiq_modular_gripper

Robotiq modular grippers description and gazebo pkgs

Robotiq modular gripper

• Install
• Launch

Industrial and modular end-of-arm tooling

As they are key to highly flexible automation tasks, we have enhanced three different grippers from Robotiq through the H-ROS SoM. Ranging from 50mm to 140mm stroke.

• ROS 2.0 native: Ready to be steered with MARA, the first truly modular collaborative robot.
• Independent ROS 2.0 adapter, plug & play: Easy to install manually and seamlessly working with other modular robot components.
• Real-time, time-sensitive communications: Qualified -through the H-ROS SoM- to achieve time synchronization and deterministic communications enabled with TSN standards.
• Ideal for MARA: Three highly adaptable grippers to be used in combination with MARA or other ROS 2.0 enabled robots. Now you can operate them from ROS 2.0 directly, by using a simple Ethernet connection.

	S50	S85	S140
Original gripper	Hand-E	2F-85	2F-140
Stroke (adjustable)	50 mm	85 mm	140 mm
Grip force (adjustable)	60 to 130 N	20 to 235 N	10 to 125 N
Form-fit grip payload	5 kg	5 kg	2.5 kg
Friction grip payload	3 kg	5 kg	2.5 kg
Gripper mass	1 kg	0.9 kg	1 kg
Position resolution (fingertip)	0.2 mm	0.4 mm	0.6 mm
Closing speed (adjustable)	20 to 150 mm/s	20 to 150 mm/s	30 to 250 mm/s

Install

Install ROS 2.0

Install ROS 2.0 following the official instructions: source debian packages.

Create mara ROS 2.0 workspace

Create a ROS workspace, for example:

mkdir -p ~/ros2_mara_ws/src
cd ~/ros2_mara_ws
sudo apt install -y python3-vcstool python3-numpy
wget https://raw.githubusercontent.com/acutronicrobotics/MARA/master/mara-ros2.repos
vcs import src < mara-ros2.repos

Generate HRIM dependencies:

cd ~/ros2_mara_ws/src/HRIM
sudo pip3 install hrim
python3 hrim.py generate models/actuator/servo/servo.xml
python3 hrim.py generate models/actuator/gripper/gripper.xml

Compile

Right now you can compile the code:

source /opt/ros/dashing/setup.bash
cd ~/ros2_mara_ws && colcon build --merge-install --packages-skip individual_trajectories_bridge

Launch

S85 ( Robotiq 2f-85 )

ros2 launch robotiq_gazebo robotiq_85.launch.py

S140 ( Robotiq 2f-140 )

ros2 launch robotiq_gazebo robotiq_140.launch.py

S50 ( Robotiq Hand-E )

ros2 launch robotiq_gazebo robotiq_hande.launch.py