This repo include the design and software needed to create a tool-changer for collaborative and service robots.
The repo also include several tools that can be created and used with or without the tool-changer.
The tool-changer is described in branch tool-changer,
which include the three main components of the tool-changer: robot-component, tool-component, and tool-housing.
The tool-changer was originally designed to be used with ABB YUMI collaborative robot.
With minor adjustments the tool-changer design can be retrofit to most mobile and stationary robots.
The project includes the design, manufacturing, programming, and evaluation of a tool-changer for robots.
To examine the design we evaluated the tool-changer on ABB YuMi, a two-arm stationary robot.
The tool-changer and the different tools are organized in separate branches.
To get started with the tool-changer, open the tool-changer branch and follow instructions.
To manufacture a tool, open the tool branch and follow the design instructions and supplementary material (software, electrical drawings, etc.).
To add new tool the developer will work on branch new-tool, and ask the contributors to do pull-request.
Ron Berenstein - website
See also the list of contributors who participated in this project.
- CITRIS invention lab
- Jacob Gallego from UC Berkeley machine shop