QB Robotics N.1 qb SoftHand Research 24 V, General Manual

Page 1: ...PLEASE READ CAREFULLY THESE INSTRUCTIONS BEFORE USE DO NOT DISCARD KEEP FOR FUTURE REFERENCE General Manual...

Page 2: ...to changes without notice the latest version is available on our webpage www qbrobotics com qbrobotics s r l does not assume any responsibility for errors or omissions In no case qbrobotics s r l wil...

Page 3: ...s 9 3 4 Electrical characteristics 10 3 5 Tool connector pinout 11 4 Description 13 4 1 General 13 4 2 Characteristics and key features 13 4 3 Standard customization 14 5 Mounting and wiring 15 5 1 To...

Page 4: ...8 5 The hand does not reopen correctly 46 8 6 The USB flash drive is not working 47...

Page 5: ...of the product 1 2 Symbols and conventions STYLE DESCRIPTION Identifies information about practice or circumstances that can lead to critical damages on the device and to personal injury Attentions h...

Page 6: ...g the described assembly phase Monospaced text Identifies file paths file names and software functions 1 3 Kit content The kit consists of N 1 qb SoftHand Research 24 V N 1 ISO 9409 1 50 4 M6 flange a...

Page 7: ...ISO 8734 A d6x14 h6 N 4 metrical screws EN ISO 4762 M6x10 N 8 metrical screws EN ISO 10642 M3x8 N 1 2 mm Allen hex key N 1 5 mm Allen hex key Optionals 24 VDC power supply unit ISO 9409 1 40 4 M6 flan...

Page 8: ...the packaging The device can be used only by specially trained staff Disconnect the power supply before installation cleaning or maintenance operations Make sure that no residual energy remains in the...

Page 9: ...AC The products described in this device manual do not fall within the scope of this directive since they are intended for lower voltages 2 4 Environmental conditions Wrong environmental and operating...

Page 10: ...this product have been chosen in accordance with the EU RoHS directive 2011 65 EU they are produced with restricted use of hazardous substances to protect the environment Observe national registratio...

Page 11: ...igure below shows the overall dimensions of the qb SoftHand research valid for both left and right configurations distances and tolerances in the drawing are noted in millimeters mm and degrees Figure...

Page 12: ...he hand mounted with its palm facing the ground cf the figures below Figure 2 Robot Tool Coordinate System On the left it is represented the mechanical interface coordinate system M OM XM YM ZM of an...

Page 13: ...ation This definition implies that T is the same for left and right SoftHands So the positive orientation of XT axis will be on the side of the thumb in the right hand and on the side opposite to the...

Page 14: ...2022 RELEASE V1 1 0 Figure 4 Maximum payload chart Figure 5 Chart notes 3 4 Electrical characteristics MINIMUM NOMINAL MAXIMUM Power supply voltage VDC 23 1 24 24 8 Power consumption W 1 4 18 30 Curre...

Page 15: ...dB 50 Starting spike current may be greater but it is instantaneous Only the non condensing case is to be considered 3 5 Tool connector pinout On the qb SoftHand flange there is a Phoenix Contact 8 p...

Page 16: ...DESCRIPTION 1 White RS485 Figure 6 User view 2 Brown RS485 3 Green 4 Yellow 5 Gray 24V 6 Pink GND 7 Blue 24V 8 Red GND 24VDC and GND must be provided by an isolated Power Supply Unit WARNING Any erro...

Page 17: ...h is composed of a logic stage for communication and low level computation and a power stage for motion control This together with a DC motor and its absolute encoder establishes a simple position and...

Page 18: ...g and play certified ROS packages and general C API available Grasp forces and payloads highly depend on object dimensions and approaching strategy cf Mechanical Characteristics see Page 7 4 3 Standar...

Page 19: ...e to the robot arm The device can be mounted on any robot equipped with a mounting interface ISO 9409 1 To assemble the hand on the robot arm please follow the following instructions INSTRUCTIONS 1 In...

Page 20: ...meter 63 mm taking care that the cylindrical pin 1 fits into one of the four d6 reamed through holes 3 Fasten 2 to the robot wrist by tightening the four screws 3 You need the 5 mm Allen wrench 4 Cent...

Page 21: ...ower and connect the qb SoftHand to UR robots control box or a workstation computer please follow the instructions in the table using the provided kit The following images include an external power su...

Page 22: ...NUAL SEP 8 2022 RELEASE V1 1 0 Figure 7 Connection kit for qbSoftHand Research power supply unit A RS485 USB converter B main cable C1 USB cable C2 power cable C3 INSTRUCTIONS 1 Connect the main cable...

Page 23: ...B type A port on your PC or robots control box If you have not required the external power supply the C1 cable has two unconnected red and grey ends These are used to power the device so connect the r...

Page 24: ...Lock the M8 connector by manually tightening its threaded ring on the body of the receptacle max tightening torque 0 2 Nm Table 1 Installation guidelines of the SoftHand research on UR Be careful to...

Page 25: ...down menu on the left When a serial port is found the Connect button becomes available and by clicking on it you scan the serial resource to find every qbrobotics device connected to the system If the...

Page 26: ...its settings e g firmware version parameter values measurements Devices ID shows a list of device IDs connected to the system by selecting one of them from the drop down menu you are able to query th...

Page 27: ...uttons Get Measurements and Get Currents enable an auto refreshing thread that shows respectively the encoder measurements or the motor current in milliamperes in the fields below Input and sliders It...

Page 28: ...e Ubuntu Packages If you prefer to leave your catkin workspace as it is you can simply install all the ROS packages from the Ubuntu official repositories sudo apt update sudo apt install ros ros_distr...

Page 29: ...S you should be happy now everything is done Nonetheless if you encounter some troubles during the compilation feel free to ask for support on our Bitbucket11 WARNING This ROS package does not work wi...

Page 30: ...ut that every sequence of reads and writes is always done in the same predefined order The second mode threats every device as an independent Hardware Interface with its dedicated ROS Node which execu...

Page 31: ...to interact with the connected devices This Node is called Communication Handler and it is usually started in a separate terminal Details To understand what is hiding under the hood have a look at the...

Page 32: ...l Node This is a simple example when starting the Communication Handler with two qbrobotics devices connected on two distinct USB ports INFO 1524044523 511369300 CommunicationHandler handles dev ttyUS...

Page 33: ...can be used to send reference commands from outside the code e g asynchronously from the command line or from a higher level control Node e g as a result of a planning algorithm Regardless the control...

Page 34: ...tartup To do so just set activate_on_initialization false or remove it since the default value is false and make a call to the Communication Handler activate_motors Service when your system is ready e...

Page 35: ...ose it 0 5 half close time_from_start indicates the time for concludng the actions It sets indirectly the velocity of the qb SoftHand motion The other parameters can remain as they are The followings...

Page 36: ...ith several devices This enables the right menu which provides all the controllers available for the connected device Select the qb SoftHand controller from the second drop down menu and enable it thr...

Page 37: ...ditional launch file arguments Customization You can modify the waypoint trajectory to replicate the behavior you want either change the robot_package _control config robot_name _waypoints yaml or add...

Page 38: ...t it might happen that you encounter some trouble once in a while Maybe we have just forget to think about your specific use case or we have not seen a terrible bug inside our code In such a case we a...

Page 39: ...her it is just an idea or you have already provided your solution In any case thank you for using qbrobotics23 solutions 6 3 C API library 6 3 1 qbdevice C API v7 qbdevice C API v7 are available on qb...

Page 40: ...i 7 x x serial include the folder libs must contain the compiled libraries obtained by following the instructions in the previous paragraph the folder src must contain the main cpp that exploits qbrob...

Page 41: ...file_descriptor const char serial_port opens the serial communication by acquiring the serial port resource and sets the given file descriptor accordingly void closeRS485 comm_settings file_descriptor...

Page 42: ...ring h include unistd h include qbmove_communications h int main int argc char argv char serial_ports 10 255 int serial_ports_count RS485listPorts ports if serial_ports_count 0 std cout ERROR no seria...

Page 43: ...t int commands 2 commands 0 10000 nearly half closure max is 19000 min is 0 commands 1 0 must be always 0 only the first value is meaningful commSetInputs file_descriptor device_id commands usleep 100...

Page 44: ...40 SOFTWARE GENERAL MANUAL SEP 8 2022 RELEASE V1 1 0 closeRS485 file_descriptor return 0...

Page 45: ...cal support 7 Maintenance and warranty 7 1 General Products of the company qbrobotics s r l are produced using the most modern production methods and are subject of strict quality inspections All info...

Page 46: ...ontrol signal to close and open the whole hand Thus there is no way to control each finger independently For such a purpose you would need several motors with the consequent increase in complexity of...

Page 47: ...ly need to add your linux user to the dialout group to grant right access to the serial port resources To do so just open a terminal and execute the following command sudo gpasswd a user_name dialout...

Page 48: ...utable Go to System Properties and click on Environment Variables In the System Variable windows look for path select it and click edit Go to the end of the Variable Value field add a separator and ad...

Page 49: ...search that you can find at our ROS description repository33 measures are expressed in millimeters As additional information the phalanges are made of a polyamide 6 reinforced with 30 glass fiber disc...

Page 50: ...blem The hand does not fully open up after setting the 0 position command i e some of the fingers still remain a bit closed even if the motor position is correctly commanded to 0 Some of the fingers m...

Page 51: ...all the other fingers pull and twist a bit each distal phalanx until it seems to be in the proper place set the hand reference to 0 i e fully open when you do such maintenance Please let us know whet...