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Overview
The Gripper System consists of two parts; the Gripper Base and the Gripper Fingers. The Gripper system allows you to create a working gripper to grip objects.
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Example of working Grippersystem with Angular Gripper Fingers
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Where to find
You can find the Gripper Base and Gripper Fingers under Standard Components > Gripper
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Gripper Base - Physical Component
Feature Layout
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Live Data |
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State | Shows the current state of the GripperBase |
Current Close Percentage | Shows how far the gripper is currently closed |
Gripped Objects | Shows a list of all gripped objects |
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Control Panel |
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Generate Control Panel for GripperBase | A button used for adding a ControlPanelInterface component for the GripperBase onto the same GameObject |
Gripper Base - Logic Component
Feature overview
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Properties |
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GripperBase | Lets you select a GripperBase Component to connect to a PLC |
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These settings are general Logic Component settings. Look at the Logic Component Documentation for more details.
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Angular Gripper Finger
Feature overview
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Live Data |
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Wheel Joint | The WheelJoint the AngularGripperFinger uses to rotate |
Lower Limit (deg) | The minimum rotation limit of the WheelJoint in degrees |
Upper Limit (deg) | The maximum rotation limit of the WheelJoint in degrees |
Trigger | The trigger collider used to detect objects on the gripping surface |
Generate Trigger Rigidbody | Whether a Rigidbody needs to be generated on the Trigger GameObject upon starting playmode. This is necessary for fingers to detect collisions with each other, depending on how the fingers are setup |
Detected Objects | A list of detected objects |
Parallel Gripper Finger
Feature overview
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Live Data |
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Prismatic Joint | The PrismaticJoint the ParallelGripperFinger uses to move |
Trigger | The trigger collider used to detect objects on the gripping surface |
Generate Trigger Rigidbody | Whether a Rigidbody needs to be generated on the Trigger GameObject upon starting playmode. This is necessary for fingers to detect collisions with each other, depending on how the fingers are setup |
Detected Objects | A list of detected objects |
Vacuum Gripper Finger
Feature overview
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Vacuum Finger |
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Trigger | The trigger collider used to detect objects on the gripping surface |
Generate Trigger Rigidbody | Whether a Rigidbody needs to be generated on the Trigger GameObject upon starting playmode. This is necessary for fingers to detect collisions with each other, depending on how the fingers are setup |
Detected Objects | A list of detected objects |
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How to use - Gripper Base
1. Assign Fingers
The GripperBase needs at least one Gripper Finger to function. You can assign these in the “Properties” tab.
As soon as you have assigned all fingers, set a Close Time, the GripperBase is now ready for use.
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If you wish to control the Gripper Base within Unity, create a Control Panel for the Gripper Base from the “Control Panel” tab.
If you wish to control the Gripper Base through a PLC, connect the Gripper Base through its Logic component.
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How to use - Gripper Fingers
Angular Gripper Finger
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1. Assign WheelJoint
Assign the Wheel Joint to the Angular Gripper Finger. Make sure it is properly setup and that it is parented under a Kinematics Controller . A (new) Wheel Joint found on the same Game Object is automatically assigned by default.
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Everything should have been setup properly by now.
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Parallel Gripper Finger
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1. Assign Prismatic Joint
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Everything should have been setup properly by now.
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Vacuum Gripper Finger
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1. Assign Trigger
To detect objects, the Vacuum Gripper Finger needs a Trigger Collider.
Create a suitable Collider that covers the gripping surface and make sure it sticks out a little to be able to properly detect objects.
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