Difference between revisions of "Hook End Effector"

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(Hardware)
(Hardware)
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== Hardware ==
 
== Hardware ==
 
[[Image:hook.jpg|thumb| Image of the solidworks part for the hook that mounts on to an ATI Mini 40 Force/Torque sensor.]]
 
[[Image:hook.jpg|thumb| Image of the solidworks part for the hook that mounts on to an ATI Mini 40 Force/Torque sensor.]]
This is the hardware setup that we use:
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*We designed the hook in Solidworks and printed it on a 3D printer.
* Tilting servo: Robotis Servo (typically we use RX-28) http://www.crustcrawler.com/motors/RX28/index.php?prod=66
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** Solidworks CAD file will be uploaded soon. This requires Solidworks 2009.
* This gives a serial interface to control the servo: http://www.crustcrawler.com/electronics/USB2Dynamixel/index.php?prod=65
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** STL file will be uploaded soon.
* Hokuyo UTM. (http://www.acroname.com/robotics/parts/R314-HOKUYO-LASER4.html)
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*We also stuck some rubber on the hook. This can be seen in the images of the actual hook. The 3D printed hook is white and the rubber is black in color. We have bought the rubber sheets from http://mcmastercarr.com and used superglue to stick the rubber to the hook.
* Bracket to mount the Hokuyo on to the servo.
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*The hook mounting hole in the base of the hook match an ATI Mini40 force torque sensor. (http://www.ati-ia.com/products/ft/ft_models.aspx?id=Mini40)
** This is a custom part that we have designed.
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** The solidworks CAD file ([[Media:utm-servo-bracket.sldprt|utm-servo-bracket.sldprt]]). This requires Solidworks 2009.
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** We have taken two routes for making the bracket
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**# buy Aluminium channels from http://mcmastercarr.com and drill the appropriate holes.
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**# use http://www.mfg.com to get the part manufactured from the CAD file. Will take between a week to 10 days.
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== Code ==
 
== Code ==

Revision as of 12:27, 8 October 2009

Author

Advait Jain (http://www.cc.gatech.edu/~advait)

What this does

We first used this hook as an end effector in this paper: Pulling Open Novel Doors and Drawers with Equilibrium Point Control. Advait Jain and Charles C. Kemp. IEEE-RAS International Conference on Humanoid Robots (Humanoids), 2009. This paper and others can be downloaded from the Heathcare Robotics Lab website (http://www.healthcare-robotics.com)

The hook was inspired by how humans sometimes use a finger or fingers to hook around a handle and pull something open. We also took inspiration from prosthetic hooks, which have been successfully used with remarkable versatility and effectiveness.

Hardware

Image of the solidworks part for the hook that mounts on to an ATI Mini 40 Force/Torque sensor.
  • We designed the hook in Solidworks and printed it on a 3D printer.
    • Solidworks CAD file will be uploaded soon. This requires Solidworks 2009.
    • STL file will be uploaded soon.
  • We also stuck some rubber on the hook. This can be seen in the images of the actual hook. The 3D printed hook is white and the rubber is black in color. We have bought the rubber sheets from http://mcmastercarr.com and used superglue to stick the rubber to the hook.
  • The hook mounting hole in the base of the hook match an ATI Mini40 force torque sensor. (http://www.ati-ia.com/products/ft/ft_models.aspx?id=Mini40)

Code