The gripper needs to be able to grip parts of different sizes

Robot Programming
1

The gripper needs to be able to grip parts of different sizes. During the clamping process, if the gripper’s claws come into contact with the outer wall of the part, the clamping will stop.Cannot use Python script. How can I achieve this function?

2

This will be difficult if Python is not allowed at all, but if the gripping object is regular, i.e. a sphere or a cube (at least make sure that they are only different in size and not involve shape changes), then you can use the preset gripping distance to adapt to the different sizes of the object, and you can also specify their differences into a value to provide to the gripper so that it can adapt with the change of this value.
If you have to do this with collision-related features, I don’t think you can circumvent python entirely, because first of all, VC colliders are not suitable for this effect, which is a problem with the physics engine. To use the VC collider, as far as I know, you have to use Python or .NET, so programming is unavoidable in my opinion.
Here’s a quick demo(It can’t run for a long time, there are some small bugs, but it should also be for your reference):
No_Python.vcmx (2.8 MB)

1 Like
3

Hi,
Thanks for your reply. All the Products are Cylinder,I understand your point. According the target value of the closed state of the gripper based on the diameter of the product. However, the way I perform the grasping operation might be a bit different. Only one side of the gripper is movable, while the other side is fixed. During the clamping process of the movable gripper, it will carry the product along with it and move until it encounters the fixed gripper.The same as the following video.

4

Hello
I didn’t succeed in loading your video, but from your description, I can probably think of two ways to deal with it, mainly for the realization effect with the product, your task flow should be: confirm the product center - > move to the target position - > the clamp tightening - > lifting, in my opinion, the method we said before can at least solve the problem of fixture tightening, as for the follow-up to do, I think there are two ways:

    1. I think it can be achieved by fixing the standard, for example, by default, let the fixed side of the gripper be 50mm away from the center of the cylinder (hypothetical value), and then let the movable end of the clamp move into two sections, the first section is to touch the product, then grab the product with Grab, and then move with it to the last clamping (the clamping value is obtained in the same way as we said before)
    1. We can also use the collider in the VC to achieve the effect of moving with the product, and then finally use grab to grab, the same clamping value is the target value of the closed state of the gripper according to the diameter of the product

This is my opinion on your description, I hope it will be helpful to you. :melting_face: