V2020.1.56.3_ Gripper



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.

Example of working Grippersystem with Angular Gripper Fingers


Where to find

You can find the Gripper Base and Gripper Fingers under Standard Components > Gripper


Gripper Base - Physical Component

Feature Layout

Live Data

 

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

Properties

 

Close Time (s)

The time in seconds the GripperBase takes to move the fingers from fully opened to fully closed

Fingers

A list of all GripperFingers assigned to the GripperBase

Delete

A button used for deleting a GripperFinger from the list

Add Finger

Use this field to assign a new GripperFinger to the GripperBase

Control Panel

 

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

Properties

 

GripperBase

Lets you select a GripperBase Component to connect to a PLC

PLC I/O

 In the PLC I/O panel you can see the latest input and output values from the PLC

 

PLC Settings & Debugging

These settings are general Logic Component settings. Look at the Logic Component Documentation for more details.


Angular Gripper Finger

Feature overview

Live Data

 

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

Live Data

 

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

Vacuum Finger

 

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


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.

2. Add Controls

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.


How to use - Gripper Fingers

Angular Gripper Finger

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 https://unit040.atlassian.net/wiki/spaces/PUD/pages/280954380 . A (new) Wheel Joint found on the same Game Object is automatically assigned by default.

Set a Lower and Upper Limit to describe the degrees of freedom for the Angular Gripper Finger.

2. Assign Trigger

To detect objects, the Angular 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.

Also, ensure that “Is Trigger” is checked in the Collider component. Lastly, add the Collider component to the Angular Gripper Finger.

3. Determine whether to generate a Rigidbody

Depending on how you have setup your gripper (fingers), you may want to generate a Rigidbody on the Trigger GameObject. This could fix issues where the gripper would clip through itself when closing without a grippable object. However, make sure that the gripper finger does not detect itself.

4. Assign to Gripper Base

The Angular Gripper Finger on its own cannot grip anything, it needs a Gripper Base to control it.
Assign the Angular Gripper Finger to an object with a Gripper Base component.

Everything should have been setup properly by now.


Parallel Gripper Finger

1. Assign Prismatic Joint

Assign the Prismatic Joint to the Parallel Gripper Finger. Make sure it is properly setup and that it is parented under a Kinematics Controller. A (new) Prismatic Joint found on the same Game Object is automatically assigned by default.

2. Assign Trigger

To detect objects, the Parallel Gripper Finger needs a Trigger Collider.
Create a suitable Collider on the finger object that covers the gripping surface and make sure it sticks out a little to be able to properly detect objects.

Make sure that “Is Trigger” is checked in the Collider component. Lastly, add the Collider component to the Parallel Gripper Finger.

3. Determine whether to generate a Rigidbody

Depending on how you have setup your gripper (fingers), you may want to generate a Rigidbody on the Trigger GameObject. This could fix issues where the gripper would clip through itself when closing without a grippable object. However, make sure that the gripper finger does not detect itself.

4. Assign to Gripper Base

The ParallelGripperFinger on its own cannot grip anything. It needs a GripperBase to control it.
Assign the ParallelGripperFinger to a GripperBase.

Everything should have been setup properly by now.


Vacuum Gripper Finger

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.

Also, make sure that “Is Trigger” is checked in the Collider component. Lastly, add the Collider component to the Vacuum Gripper Finger.

2. Determine whether to generate a Rigidbody

Depending on how you have setup your gripper (fingers), you may want to generate a Rigidbody on the Trigger GameObject. This could fix issues where the gripper would clip through itself when closing without a grippable object. However, make sure that the gripper finger does not detect itself.

3. Assign to Gripper Base

The Vacuum Gripper Finger on its own cannot grip anything. It needs a Gripper Base to control it.
Assign the Vacuum Gripper Finger to a GripperBase.

Everything should have been setup properly by now.