G2 Compliant Gripper: Bringing Force Control to Pincer Grasping
Available Spring 2011
The Meka G2 Compliant Gripper is a fully-contained one degree-of-freedom pincer gripper. It utilizes a single Series Elastic actuator to achieve high performance force sensing and grasping control as well as robustness to impacts. The G2 Gripper is compatible with the Meka A2 manipulators and the M3 real-time control system.
Features
- Force controlled Series Elastic Actuator
- Mechanically coupled pincer jaws
- Replaceable soft or stiff urethane gripper pads
- Plug-and-Play compatible with the A2 manipulator
- Absolute joint angle encoder
- LED for eye-to-hand frame calibration
- Meka M3 and ROS software stacks
The G2 supports a number of sensing options:
- 6 axis ATI Mini-40 Force-Torque Sensor at the tool plate.
- Integrated 22 taxel tactile sensor by Pressure Profile Systems for each gripper jaw
- Bosch Sensortech 3-Axis accelerometer mounted in the tip of each jaw for detection of dynamic contacts
- Point Grey FireFly MV camera for eye-in-hand perception.
| (Current design estimates) | |
|---|---|
| Total DOF | 1 |
| Interface | M3 EtherCAT |
| Motor Power | 24V@1A peak |
| Digital Power | 9-15V@150mA |
| Weight | 400 g |
| Grasp Strength | 80N |
| Force Resolution | 0.1N |
| Angular Resolution | .022 degree |
| Open-Close Speed | 1.5s |