This project is a simple guide on how to build and put together a low-cost vacuum end-effector, perfect for research use. We hope this guide helps fellow researchers and anyone interested in vacuum-based robotic grasping.
This section provides step-by-step instructions on how to build the vacuum end-effector. It is designed for the Franka end-effector plate.
- Vaccum generator (e.g. Festo VN-07-M-I3-PQ2-VQ2-A)
- Suction cups (e.g. Festo ESS-20-CN or -CS)
- Plastic tubing (e.g. Festo PUN-H-4X0,75-BL)
- Push-in fitting (e.g. Festo QSM-M3-4-I)
- epoxy two-component glue (e.g. Pattex Kraft-Mix)
Products from other companies may also be suitable.
-
Print all parts:
- Print 3D part in
./files/3d-parts - Ensure 3D-printed part is clean and the air tube is free of filament.
- Print 3D part in
-
Glue the push-in fitting and the 3D-part:
- Connect the suction cup to the 3d-printed part using a thread cutter, and optionally seal with two-component glue (not needed usually).
- Attach the push-in fitting to the 3d-printed part using a thread cutter. Important: Seal everything with epoxy two-component glue. Let it dry over night.
- Final Assembly:
- Attach the vacuum pump and the push-in fitting.
- Attach the air to the vacuum pump.
Code will be released soon.
Please consider citing (Link to Paper):
@ARTICLE{metagraspnetv2,
author={Gilles, Maximilian and Chen, Yuhao and Zeng, Emily Zhixuan and Wu, Yifan and Furmans, Kai and Wong, Alexander and Rayyes, Rania},
journal={IEEE Transactions on Automation Science and Engineering},
title={MetaGraspNetV2: All-in-One Dataset Enabling Fast and Reliable Robotic Bin Picking via Object Relationship Reasoning and Dexterous Grasping},
year={2023},
volume={},
number={},
pages={1-19},
doi={10.1109/TASE.2023.3328964}}
The project is under CC BY-NC-SA 3.0 license.