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
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
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
- 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 :)