Blue Robotics Newton Gripper User manual
10/3/2018 Newton Gripper
http://docs.bluerobotics.com/newton-gripper/#specifications 1/17
Newton Gripper
Introduction
The
Newton Gripper
is a sealed, single function manipulator which can operate at depths of up to 300 meters. The
Newton Gripper
can be smoothly opened or closed with a servo PWM signal to provide the
BlueROV2
and other subsea
vehicles with the ability to interact with the subsea environment to retrieve objects, attach recovery lines, or free a
snagged tether.
Keep ngers and other body parts away from the gripper when operating! It’s strong and has the potential to do
some damage. Notify other crew members to do the same.
Quick Start (Open and Close with PWM signal source)
1. Connect the signal wire to a signal source such as the Pixhawk on the BlueROV2 or a 3.3v microcontroller.
Yellow: PWM (3.3 volts only)
2. Connect the power wires to a power source
Red: +9-18 volts
Black: Ground
3. Provide a servo PWM pulse at 1500 μs for no movement. Provide a servo PWM pulse greater than 1530 μs to open gripper.
Provide a servo PWM pulse less than 1470 μs to close gripper.
Specications
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Specication Table
Electrical
Item Value
Supply Voltage (V ) 9 - 18 volts
PWM Logic Voltage 3.3 volts
PWM Neutral Signal 1500 μs
PWM Open Signal >1530 μs-1900 μs
PWM Close Signal <1470 μs-1100 μs
Peak Current 6 amps
Mechanical
Grip Force (at tip) 97N 22lb
Grip Force (in middle) 124N 28lb
Linear Piston Travel 15mm 0.59in
Jaw Opening 70mm 2.75 in
Time to Open/Close 1.6 secs
Cable
Cable Diameter 3.8 mm 0.15 in
Cable Length 635 mm 25 in
Cable Jacket Black Urethane
Conductor Insulation Acid-Etched FEP
Conductor Gauge 20 AWG
Wires Black - Ground
Red - Power
Yellow - Signal
Physical
Pressure Rating 300 m 984 ft
Overall Length (Closed) 294 mm 11.57 in
Overall Length (Open) 300 mm 11.81 in
Body Primary Diameter 35 mm 1.38 in
Bracket Mounting Hole Spacing 16 mm 0.63 in
Bracket Screw Size M5x0.4
Weight in Air (w/ cable) 616 g 21.9 oz
Weight in Water (w cable) 260 g 9.2 oz
[1] Pressure rating is based on design and a conservative safety factor.
2D Drawings
in
f
f
1
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Newton Gripper Assembly
Newton Gripper Mount
3D Model
All 3D models are provided in zip archives containing the follow le types:
SolidWorks Part (.sldprt)
IGES (.igs)
STEP (.step)
STL (.stl)
Newton Gripper
Newton Gripper Assembly NEWTON-GRIPPER-ASM-R3-PUBLIC.zip (/newton-gripper/cad/NEWTON-GRIPPER-ASM-R3-PUBLIC.zip)
Newton Gripper Mount NEWTON-MOUNT-ASM-R1-PUBLIC.zip (/newton-gripper/cad/NEWTON-MOUNT-ASM-R1-PUBLIC.zip)
Installation
The
Newton Gripper
can be easily installed onto a BlueROV2 using the accompanying mount.
Removing a Blank Penetrator
To remove a blank penetrator from your BlueROV2, you will need the following tools:
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1 x 2.5 mm hex driver
1 x #1 Phillips head screwdriver
1 x Penetrator wrench
1. To ensure your ROV is completely powered o, please remove the battery completely from the 3” enclosure and place to the
side.
2. Remove the fairings and buoyancy blocks by removing the self-tapping screws that hold the fairings to the frame.
3. Remove the 4” electronics enclosure from the ROV by removing the M3x16 screws that mount the enclosure to the ROV cradle.
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4. Remove the Vent Plug from the Vent Penetrator Bolt on the electronics enclosure. Remove the 4” tube and forward dome
assembly from the rear end cap.
5. Remove the blank penetrator as pictured from the 4” End Cap with the penetrator wrench that came with the BlueROV2 kit.
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Install Newton Gripper Penetrator
To install the Newton Gripper into the end cap, you will need the following parts and tools:
1 x Newton Gripper assembly
1 x Penetrator Nut (Red)
1 x Penetrator O-ring
1 x Silicone Grease – 10g Tube
1 x Isopropyl Alcohol Wipe
1 x Penetrator wrench
1. Wipe the exterior surface of the electronics enclosure endcap clean with isopropyl alcohol or isopropyl alcohol wipes, and
make sure it is free of any particles in the areas where the penetrator O-ring will sit.
2. Remove the O-ring from the bag and apply silicone grease to it.
3. Install the O-ring onto the Gripper cable penetrator.
4. Install the Gripper cable penetrator on to the end cap in the hole you previously removed the blank penetrator from. Tighten
to nger tight, then use the provided wrench to tighten it an additional ~1/16 of a turn. If you can’t loosen it with your ngers, it
is tight enough.
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Wiring Connections
To install the Newton Gripper wires into your BlueROV2, you will need the following tool:
1 x Large (~#2) Phillips head screw driver
1. Plug the Gripper Signal Wire (Yellow) into Aux Channel 3 (or other free AUX Channel) with the yellow wire oriented toward the
bottom of the Pixhawk.
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2. Connect the power wires (red and black wires) into open screw terminals on the respective positive and negative terminal
blocks.
Reassemble BlueROV2 Electronics Enclosure
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To reassemble your BlueROV2 electronics Enclosure, you will need the following parts and tools:
4 x M3x16 screws that were placed o to the side during disassembly
1 x Silicone Grease – 10g Tube
1 x 2.5 mm hex driver
1. Reinstall 4” Watertight Enclosure onto ROV with the following steps:
Apply silicone grease to the two radial O-rings on the O-Ring Flange (4” Series) that is attached to the Electronics Tray
then install the Watertight Enclosure (4” Series) with installed Dome End Cap to the O-Ring Flange (4” Series).
Mount the Electronics Enclosure to the frame using the M3x16 screws so that the dome is on the same side as the front
center panels (the center panels without the 3 large holes). Install the M3x16 screws through the clips and into the
Enclosure Cradle (4” Series). It is easier to install these screws if the clips are not fully tightened until all screws are
through the clips and threading into the Enclosure Cradle (4” Series). This allows to clips to rotate so you can nd the
threaded hole in the Enclosure Cradle (4” Series) easily.
Mounting the Newton Gripper to the BlueROV2 Frame
To mount the Newton Gripper to the BlueROV2 Frame, you will need the following parts and tools:
1 x Newton Gripper Mount Drilling Template, included with kit or available here (/newton-gripper/cad/NEWTON-GRIPPER-W-
MOUNT-DRILLING-TEMPLATE-UNIVERSAL-R1.PDF) (8.5 x 11” or A4 Piece of paper, print setting “Actual”)
1 x 5.50mm (or 7/32”) drill bit (not included)
1 x Battery Powered Hand Drill (not included)
2 x M5x16 Button Head Screws
1 x 3 mm hex driver
1 x Bottle of Threadlocker
1. Remove the rear end cap from the 3” battery enclosure.
2. Remove the bottom frame panel from the BlueROV2 by removing the four M5x16 Screws.
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3. Remove the 3” battery enclosure by removing the M4x14 Screws from the bottom of the frame.
4. Cut out and align one of the the provided templates onto the bottom side (with the counterbore holes) and tape in place. You
have the option of mounting the gripper to the right or left side of the vehicle.
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