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The vacuum zone manipulator
The gripper.json feature let you customize a gripper with one or more vacuum channels.
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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 structure:
name: name of the gripper
...
Lengths are specified in millimeters, weight in kilograms.
The gripper.json file
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{
"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“
Upload to the robot
Move the gripper.json file to a USB-stick and put it into the teach pendant of the robot. Copy the file from the USB-stick and paste it in the home folder of the UR robot.
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Select All Files for the filter to show the file.
As the file is now uploaded to the robot, you can then head over to the gripper tab under Installation and select “Import from gripper.json“
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| Info |
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After loading the gripper.json file successfully, the name of the gripper and the timestamp of the last successful load action will be shown below the gripper selection drop-down. |
| Info |
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To reload a modified gripper.json file, select another gripper type first (e.g. Custom gripper) and then select Import from gripper.json again. |
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The gripper.json file can be safely deleted from the robot file system once it has been successfully loaded into the installation. |
Example
The following diagram is an example of a 4-channel suction-cup gripper with its corresponding gripper.json file. The different colors indicate different groups of suction cups that can be controlled together.
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Gripper.json file
| Code Block |
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{
"name": "4-channel gripper",
"description": "test gripper for multiple product sizes"
"dimensions": {
"width": 400,
"length": 200,
"height": 150,
"weight": 1.9,
"foamHeight": 15
},
"properties": {
"coveragePercent": 51,
"edgeAlignment": false
},
"tcp": [0, 0, 150, 0, 0, 0],
"cog": [0, 0, 0],
"zones": [
{
"id": 1,
"x": 0,
"y": 0,
"width": 110,
"length": 180,
"grip": {
"type": "standard",
"channel": 0,
"inverse": false
},
"release": {
"type": "standard",
"channel": 1
}
},
{
"id": 2,
"x": -110,
"y": 0,
"width": 50,
"length": 180,
"grip": {
"type": "standard",
"channel": 2
},
"release": {
"type": "standard",
"channel": 3
}
},
{
"id": 3,
"x": 110,
"y": 0,
"width": 50,
"length": 180,
"grip": {
"type": "standard",
"channel": 4
},
"release": {
"type": "standard",
"channel": 5
}
},
{
"id": 4,
"x": 0,
"y": 0,
"width": 380,
"length": 50,
"grip": {
"type": "standard",
"channel": 6
},
"release": {
"type": "standard",
"channel": 7
}
}
],
"configurations": [
[1,2,3,4], [4], [1,2,3], [1,2], [2,3], [1], [2], [3]
]
}
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