Pioneer 3 / PeopleBot
2dof
GRIPPER
The
Pioneer/PeopleBot
Gripper is a strong, reliable
2-axis, 2
degree-of-freedom (dof)
robotic manipulator and sensor. Driven by a two, reversible DC
servo-motors
under control of the Pioneer microcontroller, the gripper operates in
open
or closed state hotizontally. Front and rear break beams between the
paddles
indicate when an object is in grip position. In its fully down and open
state,
the two 1.5 inch (3cm) tall by 3.5 inch (9.5cm) deep P2 Gripper
paddles,
each with 2mm soft-foam pads on the inside, are 8.4 inches (21.5cm)
apart
and ride 1.2 inches (2.4cm) off the floor with the Pioneer 2-DX or just
0.25"
(1 cm) off the floor with the AT. The paddles extend out from the
Pioneer
2's main body 5 inches (11.25cm) beyond the Console edge.
The
gripper
paddles close together horizontally until they grasp an object or close
on
themselves. The grasping pressure is under software control, and varies
between
0.5 lbs (170g) and 5 lbs (1.7kg). Under independent control and drive,
the gripper's lift mechanism rises 4 inches (9 cm) and can lift objects
weighing
up to 5.5 lbs (2.5kg).
KEY
FEATURES
- Nose
mounted
2-axis arm allows grippers to handle objects 1 to 21.5 cm wide
- 2
degree-of-freedom
gripper provides sturdy, low maintenance handling
- Twin
break
beams between gripper paddles provide accurate positioninginformation
- Bump
sensors
inside each gripper provide allow software pressure controls
- Good
response
time of 3 seconds from fully open to fully closed position
- Strong
5.5 lbs. (2.5kg) lift capacity
- Vertical
4-in (9cm) rise allow object to be raised high or just above the floor
to
avoid blocking robot sonar
- Integrated
in P2OS and Saphira software
- Compatible
with Pioneer PTZ Camera Systems and other Pioneer accessories except
for
Front Bumpers.
- Easy-to-follow
gripper manual
GRIPPER
SPECIFICATIONS
CONSTRUCTION:
anodized, CNC fabricated, and painted aluminum, with foam-covered
gripper
paddles
MOTION:
2-axiz--horizontal
and vertical--with 1 degree of freedom
POWER:
+5
and +12 VDC supplied by Pioneer robot
DIMENSIONS:
10.5" x 2" x 1.75" (25.5 cm x 4.4 cm x 3.5 cm)
LIFT
WIDTH: Grippers part to 9" (19.2 cm)
LIFT
HEIGHT: Two vertical stops: one about 3/4 inch off the
ground ( so tall objects won't block robot sonar) and one at the top of
the
gripper
PAYLOAD:
5.5
lb (2.5 kg) lift capability, lateral pressure software controlled
SENSORS:
Front
and rear break beams between gripper paddles
Pressure
sensors
inside each gripper paddle
SPEED:
3
seconds from fully open to fully closed position
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