V2020.1.56.3_ Gripper
- Andreas Huvenaars (Unlicensed)
- Mathijs van Nimwegen (Unlicensed)
- 1 Overview
- 2 Where to find
- 3 Gripper Base - Physical Component
- 3.1 Feature Layout
- 4 Gripper Base - Logic Component
- 4.1 Feature overview
- 5 Angular Gripper Finger
- 5.1 Feature overview
- 6 Parallel Gripper Finger
- 6.1 Feature overview
- 7 Vacuum Gripper Finger
- 7.1 Feature overview
- 8 How to use - Gripper Base
- 9 How to use - Gripper Fingers
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 V2020.1.56.3_ Kinematics Controller . 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.
Prespective Documentation