To assembly this one you need:
- two servomotors dynamixel AX12-type
- usb dynamixel adapter
- 3d printer
- wires
Models and so on you can find in Internet, for example this https://hackaday.io/project/1059-adaptive-gripper
Go to you own catkin workspace
roscd && cd ../src
Get the dynamixel SDK inside package (only you have problems with already included SDK)
svn export https://github.com/ROBOTIS-GIT/DynamixelSDK.git/trunk/ros/dynamixel_sdk
Clone this repository
git clone https://github.com/be2rlab/uhvat_gripper.git
Build it
catkin build
source devel/setup.bash
Check for the rights
sudo chmod a+rw /dev/ttyUSB0
Check the pySerial library for python (required for ros driver)
pip install pyserial
- Connect your gripper to power supply (or battery)
- Connect the gripper to a usb2dynamixel adapter and a computer
- Run the driver
roscore
rosrun uhvat_ros_driver driver_node.py
- Set
state
rosservice call /gripper_state "state: 0"
where
- state: 0 is a maxumum wide openning
- state: 1 is a less wide openning
- state: 2 is a more less wide openning
- state: 3 is a positions of fingers whant its touches each other
- state: 4 is a low level of a closing force
- state: 5 is a middle level of closing force
- state: 6 is a high level of closing force
For more details of using see src/tests.py.
Have a fun :)