OpenSourceThreeFingeredRoboticGripper

Three-Fingered Gripper

This repository contains the design and implementation of a three-fingered robotic gripper, designed for precise and versatile manipulation tasks. This gripper is intended for applications in mobile and industrial robotics.

Features

• Compact and robust design for adaptability to various applications.
• Three independently moving fingers, enabling precise manipulation.
• High precision for handling delicate objects of various shapes.

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Repository Content

Arduino_files Folder

This folder contains various codes to directly control the gripper using an Arduino board. Below is a description of each file:

• Main_Code:

  • Establishes communication with the Arduino and creates an interactive menu in the Serial Plotter.
  • Allows control of the gripper's movements with predefined modes such as:
    • Cylindrical grip.
    • Pincer grip.
    • Flat grip.

• MoveJoints:

  • A file for directly moving the gripper motors using a configuration array in the format [0, 0, 0, 0, 0, 0].
  • Ideal for testing and manually adjusting the motors.

• Prueba_1motor:

  • Designed for initial testing with a single motor connected.
  • Useful for validating the basic functionality of individual components.

• Prueba_2motor:

  • Similar to the previous file but for testing with two connected motors.
  • Helps verify the coordination between multiple motors.

ROS_files Folder

This folder contains the necessary files to integrate and control the gripper within a ROS (Robot Operating System) environment:

• urdf:

  • Includes the garra.xacro file, which defines the robot's model in URDF (Unified Robot Description Format).
  • This file is essential for simulating the gripper and planning its movements in ROS.

• meshes:

  • Contains 3D models of the gripper, required for visualization in simulation tools such as RViz or Gazebo.

Print Designs Folder

This folder includes the 3D designs needed to print the gripper's parts.

Recommended Materials:

• PLA: Used for structural parts due to its rigidity.
• TPU: Used for parts requiring flexibility, such as the finger pads.

Printing Instructions:

• Each design file includes a label at the end of its name, such as x1, x2, or x3, indicating how many times it should be printed.
• This is because some parts, like the fingers, share a repeated design.

Tips:

• Use appropriate print settings to achieve good quality finishes, especially for parts that directly interact with motors or sensors.
• Ensure the printed parts are compatible with the hardware before assembly.

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License

This repository is licensed under the MIT License. Refer to the LICENSE file for more information.

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Author

This project was developed with the goal of facilitating research and development in robotics.
ESPOL-FIMCP-RAMEL