Difference between revisions of "PR2 Tool Adapter"

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(What this does)
(Hardware)
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** STL file ([[Media:hook.stl|hook.stl]]).
 
** STL file ([[Media:hook.stl|hook.stl]]).
 
*The mounting holes 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) or the [[Hook_End_Effector]].
 
*The mounting holes 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) or the [[Hook_End_Effector]].
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<gallery caption="" widths="150px" perrow="4">
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File:pr2_adapter.jpg| Picture of the 3D printed adapter.
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File:pr2_adapter_solidworks.jpg| Picture of the solidworks model.
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File:hook_on_adapter.jpg| Hook tool screwed onto the adapter.
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File:pr2_hook.jpg| PR2 after grabbing onto the adapter (In this image there is a force torque sensor between the adapter and the hook).
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</gallery>

Revision as of 19:28, 25 May 2011

Author

Advait Jain (http://www.cc.gatech.edu/~advait), Advisor: Prof. Charlie Kemp

What this does

Adapter that can be used to have the PR2 grab onto different tools (which can be screwed onto this adapter). This was inspired by the method used to enable PR2s to grasp flags at the 'PR2 graduation event'.

Hardware

Image of the solidworks part for the hook that mounts on to an ATI Mini 40 Force/Torque sensor.