Software (optional):
Autodesk Inventor 2023 (3D Modeling for Mechanical Design), PrusaSlicer (3D Printing), Blender
The project demonstrates the creation of several modular end-effector prototypes for robotic arms (ABB IRB 120, ABB IRB 14000 YuMi, Universal Robots UR3) as well as the creation of a 3D Viewpoint to better understand the Tool Center Point (TCP) of robots in 3D space. The modularity of end-effectors consist in their easy adaptability to a different type of robot by changing one part rather than the whole concept. The individual parts that make up the construction of each end-effector were created using 3D printing (using PLA material).
The repository contains 3D models of individual components and a Blender project for easy integration into the robot simulation model. Inside the blender file are prototypes of end-effectors with origins, position/rotation, etc. with the corresponding script in Python programming language.
Images with demonstrations on real robots can be found in the text below.
Repositary [/Data_Converter/]:
[/Blender/]
Description:
Blender project with corresponding Python script and 3D prototype models.
[/SMC_EE_*/]
Description:
End-effectors created using SMC Industrial automation products.
[/ABB_EE_SmartGripper_SMC_Vacuum/]
Description:
Smart grippers of the ABB company extended with SMC vacuum suction cups.
[/RealSense_D435i_+_Holder/]
Description:
RealSense 3D camera system mount for attachment to a robotic arm.
[/Viewpoint/]
Description:
3D Viewpoint to better understand the Tool Center Point (TCP) of robots in 3D space.
SMC Magnetic Gripper:
Weight [kg] | Position [m] | Orientation [-] | |
---|---|---|---|
EE_SMC_MHM_ABB_IRB_120_001 | 0.710 | [0.0, 0.0, 0.2177] | [1.0, 0.0, 0.0, 0.0] |
EE_SMC_MHM_Universal_Robots_UR3_001 | 0.720 | [0.0, 0.0, 0.2177] | [1.0, 0.0, 0.0, 0.0] |
Product Link: SMC (MHM-X6400)
SMC Non-contact Gripper, Cyclone Type:
Weight [kg] | Position [m] | Orientation [-] | |
---|---|---|---|
EE_SMC_XT661_2A_ABB_IRB_120_001 | 0.110 | [0.0, 0.0, 0.1765] | [1.0, 0.0, 0.0, 0.0] |
EE_SMC_XT661_2A_Universal_Robots_UR3_001 | 0.120 | [0.0, 0.0, 0.1765] | [1.0, 0.0, 0.0, 0.0] |
Product Link: SMC (XT661-2A-R)
SMC Non-contact Gripper, Bernoulli Type:
Weight [kg] | Position [m] | Orientation [-] | |
---|---|---|---|
EE_SMC_XT661_4C_ABB_IRB_120_001 | 0.295 | [0.0, 0.0, 0.1877] | [1.0, 0.0, 0.0, 0.0] |
EE_SMC_XT661_4C_Universal_Robots_UR3_001 | 0.305 | [0.0, 0.0, 0.1877] | [1.0, 0.0, 0.0, 0.0] |
Product Link: SMC (XT661-4C-X427)
SMC 4.5 Stage Bellows Vacuum Pad with Adapter:
Weight [kg] | Position [m] | Orientation [-] | |
---|---|---|---|
EE_SMC_ZP2_ABB_IRB_120_001 | 0.095 | [0.0, 0.0, 0.186] | [1.0, 0.0, 0.0, 0.0] |
EE_SMC_ZP2_Universal_Robots_UR3_001 | 0.105 | [0.0, 0.0, 0.186] | [1.0, 0.0, 0.0, 0.0] |
Product Link: SMC (ZP2-TB15ZJS6-AL12-06)
ABB Smart Gripper with SMC Vacuum Pad:
Notes:
- F = Fingers
- VL = Vacuum Suction Cup (L)
- VR = Vacuum Suction Cup (R)
- C = Camera
Weight [kg] | Position [m] | Orientation [-] | |
---|---|---|---|
ABB_Smart_Gripper_R_Type_1_001 | 0.300 |
|
|
ABB_Smart_Gripper_L_Type_1_001 | 0.275 |
|
|
ABB_Smart_Gripper_R_Type_2_001 | 0.295 |
|
|
ABB_Smart_Gripper_L_Type_2_001 | 0.270 |
|
|
Product Link: SMC (ZP3-ZP3-T13BS-A5)
Intel® RealSense™ Depth Camera D435i:
Weight [kg] | Position [m] | Orientation [-] | |
---|---|---|---|
EE_Intel_Camera_HT_Circular_001 | 0.095 |
|
|
EE_Intel_Camera_HT_Square_001 | 0.095 |
|
|
Product Link: Intel (D435i)
Universal Robots UR3:
ABB IRB 120:
ABB IRB 140000 (YuMi):
General Overview:
@misc{RomanParak_DataConverter,
author = {Roman Parak},
title = {Modular prototypes of end-effector for robotic arms.},
year = {2022-2023},
publisher = {GitHub},
journal = {GitHub repository},
howpublished = {\url{https://https://github.com/rparak/SMC_End_Effector_Prototype}}
}