Parallel Gripper Kit

$349.00$649.00

Parallel gripper and interface board for Rethink Robotics Kinova/Sawyer. Contains all the wiring, just plug it into a USB port.

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Description

Kit containing one or two grippers for Rethink Robotics Baxter/Sawyer and Sensor Interface Board w/ USB to retrofit a parallel gripper with tactile and proximity sensing. Data is available via a virtual COM port as well as a ROS node.

There are seven sensors on each gripper arm pointing inside, and one pointing forward at the tip. Sensor data can be used to detect obstacles, align with objects, determine point of contact, and eventually force. Depending on calibration, sensor data can be used for rudimentary 3D reconstruction and object recognition.

Raw sensor readings for distances from 0-6 cm and 0-5 N as a function of surface color.
Raw sensor readings for distances from 0-6 cm and 0-5 N as a function of surface color.

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Deconstructing a tower requires gripper alignment to prevent the orange block from falling upon closing the gripper.

Raw sensor values from left and right gripper used for gripper centering with feedback control.
Raw sensor values from left and right gripper used for gripper centering with feedback control.

Raw sensor data when grasping a pan handle, allowing to clearly discern grasp location on the gripper.
Raw sensor data when grasping a pan handle, allowing to clearly discern grasp location on the gripper.

Gripper grasping a pan handle from the YCB grasp data set.
Gripper grasping a pan handle from the YCB grasp data set.

An inflection point in the raw sensor signal allows contact detection independent of surface properties by tracking the time derivative of the signal.
An inflection point in the raw sensor signal allows contact detection independent of surface properties by tracking the time derivative of the signal.

A parallel gripper scanning a 3D object by rotating its wrist.
A parallel gripper scanning a 3D object by rotating its wrist.

3D data after crude calibration.
3D data after crude calibration.

Product video

More information

Additional information

Number of legs

1, 2

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