I tried to make a Schunk centric gripper tool with 3 moving jaws. I only see the option to make a mechanism for 2 jaws in the same plane. Is there a way to make such a 3 jaw gripper that opens and closes ? I attached the model files.
There is no feature to create such a mechanism directly in RDK.
But it's possible to be a bit creative and make it work.
Look at this drive link, you should find an Excel sheet. https://drive.google.com/drive/folders/1...CCTdy-p7GW
Look at how to create a linear rail video, then look at the "Pillar" video. (Module 6)
What I would do is create 3 linear mechanisms, offset them by 120 deg, and sync them using the same python script as the middle section of the pillar.
Jeremy
Find useful information about RoboDK and its features by visiting our Online Documentation and by watching tutorials on our Youtube Channel.
I tried to make a Schunk centric gripper tool with 3 moving jaws. I only see the option to make a mechanism for 2 jaws in the same plane. Is there a way to make such a 3 jaw gripper that opens and closes ? I attached the model files.
Thanks
John
Hi John,
Saw your thread while looking into the same question and am wander if you ever got your 3 jaw gripper to work based on Jeremy's advice?
I have created a 3-jaw centric gripper using three linear rails off set by 120 degrees. I was able to use the pillar code for tying the movements together of all 3 jaws. It works however the movement of the 2nd and 3rd jaws are incredible slow and very delated from the 1st jaws movements.
If there a way to fix this so they move in sink like the pillar does? I have changed the pause and tolerance values to even lower and it changes nothing. Is the delay possibly due to the transfer of the matrix location between each gripper or could it be something else?
(12-10-2024, 04:58 PM)Bryce Wrote: Hello Albert and Jermey,
I have created a 3-jaw centric gripper using three linear rails off set by 120 degrees. I was able to use the pillar code for tying the movements together of all 3 jaws. It works however the movement of the 2nd and 3rd jaws are incredible slow and very delated from the 1st jaws movements.
If there a way to fix this so they move in sink like the pillar does? I have changed the pause and tolerance values to even lower and it changes nothing. Is the delay possibly due to the transfer of the matrix location between each gripper or could it be something else?
Thank you,
Bryce
Fixed the bugs by creating two separate programs to run Rails 2 and 3 and changing Ln: 37, Col: 25 to reflect the appropriate call out.
I recommend using setJoints only to have an immediate effect. However,, you can use MoveJ to create the moving effect.
I would also place the pause as a 1 millisecond delay inside the main while loop, not just when the joints change.
You could bundle this as one script as well.
If you can send us the RDK project file we can help you improve this.
