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The vacuum zone manipulator
The gripper.json feature let you customize a gripper with one or more vacuum channels and a file in the robot home folder called "gripper.json" that contains the geometry and the corresponding IO settings for the gripper..
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How it works
In order to have this functionality working, the position and the dimensions of the bounding rectangle should be defined for each vacuum zone as well as the digital output channels that control the vacuum valves and optionally the compressed air used at release.
See complete example further down
The file
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structure:
name: name of the gripper
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configurations: list of valid combinations of vacuum areas that can be used together (
Lengths are specified in millimeters, weight in kilograms
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Name the greated .
The gripper.json file
| Code Block |
|---|
{
"name": "4-channel gripper",
"description": "test gripper for multiple product sizes"
"dimensions": {
"width": 100,
"length": 200,
"height": 100,
"weight": 1.85,
"foamHeight": 15
},
"properties": {
"coveragePercent": 40,
"edgeAlignment": false
},
"tcp": [0, 0, 100, 0, 0, 0],
"cog": [0, 0, 0],
"zones": [
{
"id": 1,
"x": 0,
"y": -50,
"width": 100,
"length": 100,
"grip": {
"type": "standard",
"channel": 0,
"inverse": false
},
"release": {
"type": "standard",
"channel": 1
}
},
{
"id": 2,
"x": 0,
"y": 50,
"width": 100,
"length": 100,
"grip": {
"type": "standard",
"channel": 2
},
"release": {
"type": "standard",
"channel": 3
}
}
],
"configurations": [
[1,2], [1], [2]
]
} |
NOTE: Name the created json file “gripper.json“
Example
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