So I'm buying all the supplies so I can start assembling the robot when it gets here however I'm a bit stuck on the gripper.
It looks like a pneumatic gripper is the way to go however I'm less clear on
1) What do you put on the end of them? I'm assuming you'd want a rubber/flexible material so that it can apply more pressure evenly? (And if so, where do you buy them)
2) There seem to be two kinds (angular and parallel). What are the trade offs between these two type?
3) This is probably the biggest one I'm struggling with. For the air supply, can I get away with a regular air compressor that I have in the tool shop or is there a specific style/type I should purchase?
4) Finally! Is there a source (website, youtube channel, etc.) that anyone would recommend I visit to learn more?
Thank you for any help you might provide!
Best,
Paul
I don't have an air compressor yet but I went with the parallel gripper. I was debating getting one of those California Air quiet compressors but I'm not sure how much air I'll need for the gripper and don't want it to constantly be running if it uses a lot. I'm also really curious what other people are using for their air supply.
I believe the instructions mention that we need to 3D print the gripper parts. You could probably add some rubber padding on top of the plastic.
I used a low cost compressor from Harbor Freight although its a bit loud. the parallel gripper is better imo as the stroke of the jaws come together evenly in parallel rather than at an angle like fingers pinching. I like the low profile SMC in shown in the manual as its a small size and lightweight. as for the fingers I just 3D printed a few different fingers as I needed them. for the tubing I used some PU air hose similar to this https://www.amazon.com/uxcell-Meters-Inside-Diameter-Tubing/dp/B00N3WMT92/ref=sr_1_4?ie=UTF8&qid=1539103695&sr=8-4&keywords=3mm+pneumatic+tubing with some push connector fittings. this was just a quick search on Amazon you will need to verify the threadsize for the gripper you choose and tube size.
Awesome. Thanks for the feedback guys it has put me on the right track. Another question down the rabbit hole.
How do you approach automatic tool changing? (eg; changing between grippers)
very possible but it gets very expensive and you have to run another set of airlines to the robot. I found this on ebay https://www.ebay.com/p/Applied-Robotics-Cxc10-Tool-Changer-SMC-Mhz2-25dn-x51-Pneumatic-Gripper-Robot/1024604077 probably as cheap as you will find one but look up companies like applied robotics, SMC and Schunk for pneumatic tool changers.
