Difference between revisions of "PR2 Tool Adapter"

From Healthcare Robotics Wiki
Jump to: navigation, search
(Hardware)
(Hardware)
Line 9: Line 9:
 
** Solidworks CAD file ([[Media:pr2_tool_adapter.sldprt|pr2_tool_adapter.sldprt]]). This requires Solidworks 2009.
 
** Solidworks CAD file ([[Media:pr2_tool_adapter.sldprt|pr2_tool_adapter.sldprt]]). This requires Solidworks 2009.
 
** STL file ([[Media:pr2_tool_adapter.stl|pr2_tool_adapter.stl]]).
 
** STL file ([[Media:pr2_tool_adapter.stl|pr2_tool_adapter.stl]]).
* The mounting holes in the base of the hook match an [http://www.ati-ia.com/products/ft/ft_models.aspx?id=Mini40  ATI Mini40] force torque sensor or the [[Hook_End_Effector]].
+
* The mounting holes in the base of the hook match an [http://www.ati-ia.com/products/ft/ft_models.aspx?id=Mini40  ATI Mini40] force torque sensor or the [[Hook End Effector]].
 
* You will need to thread the holes on the top of the adapter (M3 tap).
 
* You will need to thread the holes on the top of the adapter (M3 tap).
 
<br>
 
<br>

Revision as of 16:37, 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.
  • The mounting holes in the base of the hook match an ATI Mini40 force torque sensor or the Hook End Effector.
  • You will need to thread the holes on the top of the adapter (M3 tap).