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Tool Modification

Vacuum Gripper

Video

Hardware Setup

Remove normal gripper of OpenMANIPULATOR-X and install a vacuum gripper. You can download the STL file of the vacuum gripper from the link in the table below, and print it to the 3D printer.

Set vacuum gripper system referring Instrucables page.

  Part Name Quantity Link
3D Printed Tool Part Vacuum Holder 1 Download Link
Vacuum System ARDUINO 4 RELAYS SHIELD 1 shop Link
. 12V Air Pump Motor 1 shop Link
. UD0640-20-C (Air Tube 6Ø) 1 shop Link
. UD0860-20-C (Air Tube 8Ø) 1 shop Link
. MSCNL6-1 (Coupling 6Ø) 1 shop Link
. MSCNL8-1 (Coupling 8Ø) 2 shop Link
. MVPKE8 (Suction Cup) 1 shop Link
. MHE3-M1H-3/2G-1/8 (Control Valve) 1 shop Link
. NEBV-Z4WA2L-P-E-2.5-N-LE2-S1 (Cable for Valve) 1 shop Link

Software Setup

Please refer the detailed description of [OpenCR] Setup
Download Arduino IDE and load OpenCR board on it

Find example source codes.

Go to ExamplesOpenManipulatorexampleChainopen_manipulator_chain_vacuum on Arduino IDE for OpenCR.

WARNING :
Please check each joint position before running OpenMANIPULATOR-X. It might stop operation because of joint position out of range.
The picture on the below is showing you the ideal pose of OpenMANIPULATOR-X. Please adjust each joints along with the following picture when DYNAMIXEL torque isn’t enabled.

Pen Holder

Video

Hardware Setup

Remove normal gripper of OpenMANIPULATOR-X and install a pen holder. You can download the STL file of the pen holder from the link in the table below, and print it to the 3D printer.

  Part Name Quantity Link
3D Printed Tool Part Pen Holder 1 Download Link

Software Setup

Please refer the detailed description of [OpenCR] Setup
Download Arduino IDE and load OpenCR board on it

Find example source codes.

Go to ExamplesOpenManipulatorexampleChainopen_manipulator_chain_pen on Arduino IDE for OpenCR.

WARNING :
Please check each joint position before running OpenMANIPULATOR-X. It might stop operation because of joint position out of range.
The picture on the below is showing you the ideal pose of OpenMANIPULATOR-X. Please adjust each joints along with the following picture when DYNAMIXEL torque isn’t enabled.