Difference between revisions of "PR2 Tool Adapter"

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(Hardware)
(Hardware)
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** Solidworks CAD file ([[Media:hook.sldprt|hook.sldprt]]). This requires Solidworks 2009.
 
** Solidworks CAD file ([[Media:hook.sldprt|hook.sldprt]]). This requires Solidworks 2009.
 
** 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]].
 +
* You will need to thred the holes on the top of the adapter (M3 tap).
  
 
<gallery caption="" widths="150px" heights="200px" perrow="4">
 
<gallery caption="" widths="150px" heights="200px" perrow="4">

Revision as of 15:34, 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.