Related Manuals for QB Robotics SoftHand Research
Summary of Contents for QB Robotics SoftHand Research
- Page 1 User Guide for Universal Robots PLEASE READ CAREFULLY THESE INSTRUCTIONS BEFORE USE. DO NOT DISCARD: KEEP FOR FUTURE REFERENCE.
- Page 2 Dear customer, Thank you for purchasing our product. The present document provides information at best of our knowledge at the time of publication. This document could present differences from the product and it is subject to changes without notice: the latest version is available on our webpage www.qbrobotics.com.
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Page 3: Table Of Contents
Table of Contents Preface .............................. 1 Using this document Symbols and conventions Kit content Safety..............................3 Intended use Safety instructions EC Directives on product safety Environmental conditions Environmental safety Technical data..........................6 Mechanical dimensions Center of Mass Mechanical characteristics Electrical characteristics Tool connector pinout Description ............................ - Page 4 The hand is connected but does not move The demo is not as good as expected The glove is deteriorated/broken The USB flash drive is not working Error C740A0 on e-Series robots Grasping with a custom finger position 8.10 Simplified CAD models of the qb SoftHand 8.11 URCap installation 8.12...
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Page 5: Preface
QB SOFTHAND RESEARCH USER GUIDE — 5 1 Preface 1.1 Using this document The documentation must always be complete and in a perfectly readable state. Keep the document accessible to the operating and, if necessary, maintenance personnel at all times. Pass the document to any subsequent owner or user of the product. -
Page 6: Kit Content
2 — PREFACE 1.3 Kit content The kit consists of: • N.1 qb SoftHand Research 24 V; • N.1 MC_WR_ALU_ISO_04_33_102 flange adapter; • N.1 direct wrist connection cable for UR e-Series robots; • N.1 power line communication bridge with main cable of 3m;... -
Page 7: Safety
QB SOFTHAND RESEARCH USER GUIDE — 3 2 Safety 2.1 Intended use The product design is intended for grasping objects in the weight range from 1 to 1700 g. Fragile, sharp or sharp-edged objects shall not be grasped. Objects having the ratio between the biggest and the smallest dimensions ≥8 and the main dimension greater than 300 mm shall not be grasped. -
Page 8: Ec Directives On Product Safety
Use in outdoor applications. 2.5 Environmental safety The qb SoftHand research must be disposed of in accordance with the applicable national laws, regulations and standards. All the components of 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. - Page 9 QB SOFTHAND RESEARCH USER GUIDE — 5 Observe national registration requirements for importers according to EU WEEE Directive 2012/19/EU.
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Page 10: Technical Data
6 — TECHNICAL DATA 3 Technical data 3.1 Mechanical dimensions The figure 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 and degrees [mm] [°] Figure 1. — qb SoftHand drawings WARNING: ... -
Page 11: Center Of Mass
QB SOFTHAND RESEARCH USER GUIDE — 7 3.2 Center of Mass The following table gives also the position of the Center of Mass of the SoftHand and defines its Coordinate System, like depicted in the following schemes. UNIT LEFT RIGHT CoM x coordinate, O... -
Page 12: Mechanical Characteristics
8 — TECHNICAL DATA 3.3 Mechanical characteristics MINIMUM NOMINAL MAXIMUM Pinch grasping payload [kg] — 0.83 1.10 Power grasping payload [kg] — 1.70 2.10 Hanging payload [kg] — Pinch grasping force — Power grasping force — Grasping time — — Releasing time —... -
Page 13: Electrical Characteristics
QB SOFTHAND RESEARCH USER GUIDE — 9 Figure 4. — Maximum payload chart Figure 5. — Chart notes 3.4 Electrical characteristics MINIMUM NOMINAL MAXIMUM Power supply voltage [VDC] 23.1 24.8 Power consumption Current limit — 0.75 Operational time — — Duty cycle —... -
Page 14: Tool Connector Pinout
10 — TECHNICAL DATA MINIMUM NOMINAL MAXIMUM Operating temperature [°C] Relative humidity ** — Typical noise level [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-position M8 connector, A-coded, with gold-plated copper alloy contacts —... - Page 15 QB SOFTHAND RESEARCH USER GUIDE — 11 WARNING: Any error in the pins connection may cause irremediable damages to the device.
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Page 16: Description
The custom-made electronic board inside the qb SoftHand Research 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 current control feedback regulated by a properly tuned PID controller. -
Page 17: Characteristics And Key Features
QB SOFTHAND RESEARCH USER GUIDE — 13 2-byte — common preamble; 1-byte — target slave id; 1-byte — payload length; n-byte — payload; 1-byte — checksum for communication integrity. A custom-made single-master-multiple-slave (SMMS) serial communication protocol is implemented to: • send commands to the connected devices;... -
Page 18: Mounting And Wiring
5 Mounting and wiring 5.1 Tool mounting The qb SoftHand research UR Kit allows you to connect the device to your UR robot arm, and to control it directly from within the UR user interface — e.g. from the UR Teach Pendant. -
Page 19: Cable Connections For E-Series Robots
Fix axially the hand by tightening the 8 screws (5). You need the 2 mm Allen wrench. Table 1. — Installation guidelines of the SoftHand research on UR. Referring to the baloons in the pictures: (1) cylindrical pin EN ISO 8734 A d6x14 h6; (2) MC_WR_ALU_ISO_04_33_102; (3) n.4 metrical screws EN ISO 4762 M6x10;... - Page 20 Minimum curve radius of the cable (10) = 51 mm. Table 2. — Installation guidelines of the SoftHand research on UR. Referring to the ballons in the pictures: (10) EC_CBL_26_M8FA8_M8FA8_030. If you use this type of connection, you must set up the robot as follows, in order to properly communicate over RS485 through the wrist connector: RELEASE 1.0.1 ...
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Page 21: Cable Connections For Cb-Series Robots
QB SOFTHAND RESEARCH USER GUIDE — 17 Figure 7. — UR e-Series communication interface settings 5.3 Cable connections for CB-Series robots To connect the hand to the UR's Control Box, please follow the instructions below: INSTRUCTIONS Connect the free Faston of the brown power cable to one of the available 24 V sockets inside the Digital Inputs panels. - Page 22 Do not rotate the M8 connector when inserted into the receptacle. Minimum curve radius of the cable (9) = 51 mm. Table 3. — Installation guidelines of the SoftHand research on UR. Referring to the ballons in the pictures: (6) power cable EC_CBL_22_02_L50_RR_200; (7) EC_CBL_USB2_A_MICRO_R_50; (8) LA_PCM_DUMMY_110; (9) EC_CBL_26_M8FA8_WIRE_300.
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Page 23: Software
QB SOFTHAND RESEARCH USER GUIDE — 19 6 Software 6.1 URCap 6.1.1 URCap installation To install the qb SoftHand URCap into your UR robot, please refer to the how-to section (see Page 36) 6.1.2 URCap overview The easiest solution to control the qb SoftHand from the Universal Robots ecosystem is to exploit the URCap capabilities provided, and well described below. - Page 24 20 — SOFTWARE Teaching Mode Panel To simplify the usability and re-usability of qb SoftHand, you can teach and store a given grasp value to recall it whenever you need it in a given Program Node. As it is shown in the picture below, you can quickly and easily add or remove a grasp value, which is visualized in a tabled fashion.
- Page 25 QB SOFTHAND RESEARCH USER GUIDE — 21 Figure 8. — qb SoftHand URCap Installation Node 6.1.4 Program Node This Node aimed to send a command to the qb SoftHand at a given time in a robot program. Teaching Mode Panel This panel is strictly linked to the one in the Installation Node since you can recall, add, modify or remove a stored grasp value from the internal database.
- Page 26 22 — SOFTWARE NOTE: As for the Installation Node, the small "gear" does nothing at the current state and will be enabled in the following releases. Settings Panel If you are grasping an object with a known mass, you can add it in the proper field to automatically sum it up with the qb SoftHand one.
- Page 27 QB SOFTHAND RESEARCH USER GUIDE — 23 6.1.5 e-Series Toolbar This toolbar lets you quickly check the qb SoftHand state and tech new grasp values. The two panels displayed are almost identical to the ones described in the Installation and Program Nodes.
- Page 28 24 — SOFTWARE Figure 11. — qb SoftHand URCap program example 6.1.7 URCap enabled script functions Apart from the UI features described above, you can add some custom function in your robot program by using our script methods: • : starts the serial communication with the device and returns the name string qbsofthand.connect() of the acquired serial port;...
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Page 29: Maintenance And Warranty
QB SOFTHAND RESEARCH USER GUIDE — 25 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 sales and deliveries are performed exclusively based on our... - Page 30 26 — MAINTENANCE AND WARRANTY For any support request please contact our support team mailto:support@qbrobotics.com RELEASE 1.0.1 — 15 JULY, 2020...
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Page 31: Faq And Troubleshooting
QB SOFTHAND RESEARCH USER GUIDE — 27 8 FAQ and troubleshooting For any issue not listed below, please contact our support team • The hand never connects to the robot system (see Page 27) • The hand often disconnects while the robot is moving (see Page 28) ... -
Page 32: The Hand Often Disconnects While The Robot Is Moving
28 — FAQ AND TROUBLESHOOTING WARNING: Be aware that you need to leave the system without power for at least 30 seconds during the power cycle. Only in this way we can assure that the system has completely reset its electrical state. If these steps do not solve the problem —... - Page 33 QB SOFTHAND RESEARCH USER GUIDE — 29 The first steps to try to solve the issue are the followings: • Check whether the wiring is correct, cf. cable connections (see Page 14) WARNING: Please, also have a look at each connector and check if any is damaged.
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Page 34: The Hand Does Not Reopen Correctly
30 — FAQ AND TROUBLESHOOTING 8.3 The hand does not reopen correctly 8.3.1 Problem 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 may move a bit slower than expected. -
Page 35: The Hand Is Connected But Does Not Move
QB SOFTHAND RESEARCH USER GUIDE — 31 8.4 The hand is connected but does not move 8.4.1 Problem The hand is completely open — i.e. it is in its resting configuration. The user interface shows that the hand is properly connected and you can see the device status card (from either the installation tab or the toolbar on e-Series robots) working correctly. -
Page 36: The Demo Is Not As Good As Expected
32 — FAQ AND TROUBLESHOOTING 8.5 The demo is not as good as expected 8.5.1 Problem When dealing the very first times with a soft robotics device, it quickly appears intuitive and easy to use, but it may require some times to get rid of all of its power and secrets. If you try to make a demo and it seems that it is not amazing as you have thought before, maybe is just because you need few tips to mastering in the use of our device. -
Page 37: The Glove Is Deteriorated/Broken
QB SOFTHAND RESEARCH USER GUIDE — 33 UR PROGRAM EXAMPLE Move L: # not Move J which is linear in joint space - approach_waypoint - hand close 40% # this is a pre-grasp - pick_waypoint - hand close 75% # this is the real grap on the object NOTE: ... -
Page 38: The Usb Flash Drive Is Not Working
34 — FAQ AND TROUBLESHOOTING WARNING: Be aware that you must never grasp sharp objects, nor have them close to the robot during its operation, cf. safety warnings (see Page 3) A damaged glove can affect repeatability and grasping performance. 8.6.2 Solution Unfortunately is not possible to ship you a whole new glove and let you proceed with its replacement. -
Page 39: Error C740A0 On E-Series Robots
QB SOFTHAND RESEARCH USER GUIDE — 35 8.8 Error C740A0 on e-Series robots 8.8.1 Problem If you are using an old qb SoftHand or an old URCap version it may happen that you experience the error when using the device on e-Series robots. -
Page 40: Grasping With A Custom Finger Position
36 — FAQ AND TROUBLESHOOTING 8.9 Grasping with a custom finger position 8.9.1 Problem The qb SoftHand adapts the finger position to envelop the object shape as much as possible — i.e. automagically. However the mechanical synergy of the hand always goes from a fully open "slap" configuration to a fully closed ... -
Page 41: Urcap Uninstallation
QB SOFTHAND RESEARCH USER GUIDE — 37 From there select the flash drive, choose the file named in the root qbsofthand-*.*.*.urcap directory of the drive, and click "Open" ; A reboot is needed to set the custom URCap available in robot system. - Page 42 38 — FAQ AND TROUBLESHOOTING e-Series: From the main view, go to "Settings" ; Then click on the tab "System" and on the sub-tab "URCap" ; From there you just need to select the URCap named "qb SoftHand" and click on the "minus" at the bottom of the page;...
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