Related Manuals for K-Team KJ-Gripper
Summary of Contents for K-Team KJ-Gripper
- Page 1 K K K K J J J J - - - - Grippe Grippe Grippe Gripper r r r User manual Version 1.0 June 2010...
- Page 2 K-Junior Gripper User Manual rev 1.0...
- Page 3 • All efforts have been made to ensure the accuracy of the content of this manual. However, should any error be detected, please inform K-Team. • The above notwithstanding, K-Team can assume no responsibility for any error in this manual.
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Page 4: Table Of Contents
TABLE OF CONTENTS INTRODUCTION ....................5 ..................5 OW TO USE THIS HANDBOOK ....................6 AFETY PRECAUTIONS ..................6 NPACKING AND INSPECTION ......................... 6 ECYCLING THE K-JUNIOR GRIPPER ................. 7 ........................7 VERVIEW ..........................8 ........................8 RIPPER ........................9 ATTERY ....................... -
Page 5: Introduction
INTRODUCTION The hardware of K-Junior is based on a modular concept. The Gripper is a turret that can be plugged on the basic configuration making object manipulation possible. Due to the configuration of this turret, other turrets can be plugged on the top of it, but can't be under the Gripper. -
Page 6: Safety Precautions
Safety precautions Here are some recommendations on how to correctly use the K-Junior Robot: • Don't force mechanical movements of the gripper! Movements of the gripper mechanical parts have to be controlled ONLY by software. Forcing arm or gripper (open or close) movements can damage the gripper mechanics! •... -
Page 7: The K-Junior Gripper
The K-Junior Gripper Overview Figure 2.1: Overview of the Gripper turret layout Make an external inspection of the turret. Note the location of the following parts: Main Support Screws to fix on the robot Power input connector Charge Led Additional battery Extension connectors Power on Led ON/OFF switch... -
Page 8: Arm
The arm makes the displacement of the gripper possible. The movement of the arm allows to grab object in front of the Robot, and takes it above. This allows the Robot to keep its mobility and all sensors free of obstacle. The arms is moved by a DC servo motor which is control by a local microcontroller to allows the user to set every position he wants. -
Page 9: Battery
Battery An additional battery is included in the Gripper to increase the autonomy of the Gripper and the K-Junior. This is a LiPol Battery with a capacity of 1350mAh . A external power supply adapter (5V - 1.4A) is deliver with the Deluxe package to charge the gripper Battery. - Page 10 2.6.1 Firmware Version register This register return the version and revision of the Gripper turret 2.6.2 Position Register (Arm and Gripper) Reading: This register return the real position of the Arm (or the gripper). The returned value is proportional to the angle of the Arm (or the Gripper). Where 0 is the "LOW position" for the Arm and "closed position"...
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Page 11: Connections
Assembling and disassembling additional turret is a delicate operation. Try to avoid it as much as possible and perform it carefully. Please follow the following instructions to avoid damage to your modules. K-Team can assume no responsibility for any damage caused by improper manipulation... -
Page 12: Disassembling
Disassembling For the disassembling, be careful that the Gripper and the Robot must be turned OFF. • Unscrew the two fixing screws. • Then take the robot with one hand and the gripper with the other, and pull vertically to avoid to twist the connector pins and broke the connector. -
Page 13: Gripper Use
To program the K-Junior with the C language, you must have the CCS compiler. You can buy directly at K-Team a limited version of the compiler to use only with the microcontroller of the K-Junior. Please read first the K-Junior Os manual (http://ftp.k-team.com/K-... - Page 14 4.1.6 unsigned int16 HemGripper_Read_Gripper_Consign(void) Function : Read the position Consign of the Gripper Example : unsigned int16 GripperConsign; GripperConsign = HemGripperReadGripperConsign(); 4.1.7 unsigned char HemGripper_Read_Arm_Speed(void) Function : Read the speed for the Arm movement Example : unsigned char ArmSpeed; ArmSpeed = HemGripperReadArmSpeed(); 4.1.8 unsigned char HemGripper_Read_Gripper_Speed(void) Function : Read the speed for the Gripper movement...
- Page 15 4.1.14 void HemGripper_Set_Gripper_Position(unsigned int16 value) Function : Set the new position of the gripper. The servo will reach this position as fast as possible Example : HemGripperSetGripperPosition(100); 4.1.15 void HemGripper_Set_Arm_Consign( unsigned int16 value ) Function : Set the consign of the arm. The Arm will reach this position with the defined speed Example : HemGripperSetArmConsign(2000);...
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Page 16: Serial Remote Control
Serial Remote Control From the K-Junior firmware version A-01, you can access to the I2C modules through the serial protocol. If you have an older version of firmware, you can update it by downloading the last version on our website. Please have a look at the last K-Junior User Manual to learn more about the serial protocol. -
Page 17: Atechnical Specification
Technical Specification • Weight : 200 [g] • Power Supply : 5 [V] • Maximum payload: 30[g] • Minimum object size: 1[mm] • Maximum object size: 70[mm] • Autonomy: up to 3 hours K-Junior Gripper User Manual rev 1.0... - Page 18 K-Junior Gripper User Manual rev 1.0...
- Page 19 K-Junior Gripper User Manual rev 1.0...
- Page 20 K-Team S.A. Rue Galilee 9 1400 Yverdon-les-bains Switzerland K-Junior Gripper User Manual rev 1.0...
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