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build a custom two finger parallel gripper ourself?
Posted: 12 Apr 2020, 01:40
by v-wewei
hi, everyone
since i need to use a custom gripper for my project, and then sim-to-real transform. would anyone to give or share a successful experience for how to build custom grippers ourself.
i am now not sure whether it is a good idea to imitate the default baxter gripper or panda gripper with two parallel finger.
thanks andvance for your help.
Re: build a custom two finger parallel gripper ourself?
Posted: 13 Apr 2020, 09:36
by coppelia
Hello,
maybe there is one piece of advice: have a look how the 2-finger Baxter gripper was done. The important point is: instead of having two separate linear actuators for your fingers (one actuator per finger), use one single linear actuator that links the two fingers and that controls the open/close movement of the fingers. And have another auxiliary linear actuator that control the position of the two fingers. Similar to following:
Code: Select all
handBase --> auxiliaryJoint --> finger1 --> openCloseJoint --> finger2
instead of
Code: Select all
handBase --> finger1Joint --> finger1
--> finger2Joint --> finger2
With the first situation you will be able to have a much more stable gripping than with the second situation. Think of it like the chopstick approach (arm is the auxiliary joint, hand is the open/close joint) versus holding an individual chopstick in each hand.
Cheers
Re: build a custom two finger parallel gripper ourself?
Posted: 13 Apr 2020, 16:14
by v-wewei
okay, sorry for my late reply, i will have a try and pose any question here i meet.
thanks for your kind advice.