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Robotiq modular gripper

Industrial and modular end-of-arm tooling

As they are key to highly flexible automation tasks, we have enhanced three different grippers from Robotiq through the H-ROS SoM. Ranging from 50mm to 140mm stroke.

  • ROS 2.0 native: Ready to be steered with MARA, the first truly modular collaborative robot.
  • Independent ROS 2.0 adapter, plug & play: Easy to install manually and seamlessly working with other modular robot components.
  • Real-time, time-sensitive communications: Qualified -through the H-ROS SoM- to achieve time synchronization and deterministic communications enabled with TSN standards.
  • Ideal for MARA: Three highly adaptable grippers to be used in combination with MARA or other ROS 2.0 enabled robots. Now you can operate them from ROS 2.0 directly, by using a simple Ethernet connection.
S50 S85 S140
Original gripper Hand-E 2F-85 2F-140
Stroke (adjustable) 50 mm 85 mm 140 mm
Grip force (adjustable) 60 to 130 N 20 to 235 N 10 to 125 N
Form-fit grip payload 5 kg 5 kg 2.5 kg
Friction grip payload 3 kg 5 kg 2.5 kg
Gripper mass 1 kg 0.9 kg 1 kg
Position resolution (fingertip) 0.2 mm 0.4 mm 0.6 mm
Closing speed (adjustable) 20 to 150 mm/s 20 to 150 mm/s 30 to 250 mm/s

Install

Install ROS 2.0

Install ROS 2.0 following the official instructions: source debian packages.

Create mara ROS 2.0 workspace

Create a ROS workspace, for example:

mkdir -p ~/ros2_mara_ws/src
cd ~/ros2_mara_ws
sudo apt install -y python3-vcstool python3-numpy
wget https://raw.githubusercontent.com/acutronicrobotics/MARA/master/mara-ros2.repos
vcs import src < mara-ros2.repos

Generate HRIM dependencies:

cd ~/ros2_mara_ws/src/HRIM
sudo pip3 install hrim
python3 hrim.py generate models/actuator/servo/servo.xml
python3 hrim.py generate models/actuator/gripper/gripper.xml

Compile

Right now you can compile the code:

source /opt/ros/dashing/setup.bash
cd ~/ros2_mara_ws && colcon build --merge-install --packages-skip individual_trajectories_bridge

Launch

S85 ( Robotiq 2f-85 )

ros2 launch robotiq_gazebo robotiq_85.launch.py

S140 ( Robotiq 2f-140 )

ros2 launch robotiq_gazebo robotiq_140.launch.py

S50 ( Robotiq Hand-E )

ros2 launch robotiq_gazebo robotiq_hande.launch.py