Difference between revisions of "PR2 Tool Adapter"
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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
- We designed the hook in Solidworks and printed it on a 3D printer.
- Solidworks CAD file (hook.sldprt). This requires Solidworks 2009.
- STL file (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.
- You will need to thred the holes on the top of the adapter (M3 tap).
Picture of the 3D printed adapter.
Picture of the solidworks model.
Hook tool screwed onto the adapter.
PR2 after grabbing onto the adapter (In this image there is a force torque sensor between the adapter and the hook).
