Difference between revisions of "PR2 Tool Adapter"

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== What this does ==
 
== What this does ==
Adapter that can be used to have the PR2 grab onto different tools. This was inspired by the method used to enable PR2s to grasp flags at the 'PR2 graduation event'.
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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 ==
 
== Hardware ==
[[Image:hook.jpg|thumb| 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.
 
*We designed the hook in Solidworks and printed it on a 3D printer.
** Solidworks CAD file ([[Media:hook.sldprt|hook.sldprt]]). This requires Solidworks 2009.
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** Solidworks CAD file ([[Media:pr2_tool_adapter.sldprt|pr2_tool_adapter.sldprt]]). This requires Solidworks 2009.
** STL file ([[Media:hook.stl|hook.stl]]).
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** STL file ([[Media:pr2_tool_adapter.stl|pr2_tool_adapter.stl]]).
*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.
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* 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 ATI Mini40 force torque sensor. (http://www.ati-ia.com/products/ft/ft_models.aspx?id=Mini40)
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* You will need to thread the holes on the top of the adapter (M3 tap).
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<br>
  
== Code ==
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<gallery caption="" widths="150px" heights="200px" perrow="4">
* ROS (http://www.ros.org)
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File:pr2_adapter.jpg| Picture of the 3D printed adapter.
* The code that we used to enable the robot to open drawers and doors using this hook as the end effector can be downloaded from our ROS repository. You will need the following ROS packages from our public ROS repository (available at http://code.google.com/p/gt-ros-pkg/wiki/hrl_content_summary)
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File:pr2_adapter_solidworks.jpg| Picture of the solidworks model.
*# code_publications/2009_humanoids_epc_pull (http://code.google.com/p/gt-ros-pkg/source/browse/#svn/trunk/hrl/code_publications/2009_humanoids_epc_pull)
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File:hook_on_adapter.jpg| [[Hook End Effector | 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>

Latest revision as of 16:38, 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).