UBIROS GENTLE DUO MINI User manual

GENTLE DUO MINI

USER MANUAL

October 2020

UbirosInc

ubiros_inc

@UBIROS1

[email protected]

Congratulations on your purchase of Gentle Duo: A patent pending, mechanically

intelligent robotic hand that automatically conforms around a large range of object sizes

and shapes to pick them up, gently. Gentle Duo is the first electrically actuated soft robotic

gripper and it offers individual finger actuation!

UBIROS INC

251 W Central St. Ste. #35

Natick MA 01760

(508) 810-0164

ubiros.com

Your product ID:

GNT ______-______________

It can also be found on your gripper, please record and refer to it when contacting us.

TABLE OF CONTENTS

TECHNICAL SPECIFICATIONS .......................................................................................................... 4

MOUNTING ......................................................................................................................................... 5

Mounting steps ................................................................................................................................. 5

ELECTRICAL CONNECTION .............................................................................................................. 6

Universal Robots e-Series ................................................................................................................ 6

Universal Robots CB-series.............................................................................................................. 6

KUKA IIVA ........................................................................................................................................ 6

Yaskawa Motoman HC10 w/YRC1000micro controller...................................................................... 6

OPERATION........................................................................................................................................ 6

Universal Robots e- and CB-Series .................................................................................................. 6

KUKA IIVA ........................................................................................................................................ 7

Yaskawa Motoman HC10 w/YRC1000micro controller...................................................................... 7

GRIPPER SETUP................................................................................................................................ 7

URCAP USAGE................................................................................................................................... 8

URCap Feature Overview & Compatibility ........................................................................................ 8

Universal Robots e-Series ................................................................................................................ 8

Installation .................................................................................................................................... 8

Uninstallation .................................................................................................................................... 8

Tool Center Point (TCP) Configuration.......................................................................................... 8

Gripper Configuration Node .......................................................................................................... 8

Gripper Actuation in Program........................................................................................................ 9

Toolbar (e-Series only).................................................................................................................. 9

Universal Robots CB-Series ........................................................................................................... 10

Installation .................................................................................................................................. 10

Uninstallation .............................................................................................................................. 10

TCP Configuration ...................................................................................................................... 10

Gripper Actuation in Program...................................................................................................... 10

Gripper Configuration Node .........................................................................................................11

TECHNICAL SPECIFICATIONS

Gripper Dimensions

(diameter, height)

100 / 172 mm (3.9 / 6.8 in)

Enclosure Dimensions

(diameter, height)

100 / 84 mm (3.9 / 3.3 in)

Finger dimensions

(Length / Width / Depth)

75 / 20 / 40 mm (3.0 / 0.8 / 1.6 in)

Number of fingers

Max finger opening (tip)

175 mm (6.9 in)

Finger distance (base)

28 mm (1.1 in)

Weight

800 g (1.8 lbs)

Payload

1,500 g (3.3 lbs)

Grasping time

100 ms / 50 mm (100 ms / 2 in)

Maximum cycle

500,000

Input Voltage

15 V - 25 V

Max. Current

(idle / load / instantaneous)

0.03 A / 2 A / 3 A

Control Interface

1 or 2* Digital Inputs

Part Confirmation

Digital Output*, Adjustable Threshold

Finger material

Silicone, FDA Approved**

Enclosure material

Anodized Aluminum

Flange

ISO 31.5-63

Individual finger actuation

Enabled**

Water Proofing

Sealed, Not certified

*Touch model only

** Available upon request

MOUNTING

Your package includes a universal mechanical adapter to mount Gentle Duo Mini on your robotic arm.

It allows Gentle Duo Mini to be mounted on all ISO flanges between 31.5 mm and 63 mm. See the

dimensions of the universal mounting plate below (Figure 1).

Mounting steps

1. Attach the universal mounting adapter to your robot’s tool flange using 4 screws (provided)

2. Insert UBIROS Gentle Duo Mini inside the Universal Mounting Plate

3. Put the provided M3 screws through the holes on the side wall and tighten gently

Figure 1 Universal mounting adapter

ELECTRICAL CONNECTION

Gentle Duo Mini requires 24V power and takes in a digital input signal of up to 24V to open and close

the fingers to predefined positions. Please note Gentle Duo Mini’s digital input requires at least 13V to

turn HIGH. For the full list of specifications, see page 4.

Universal Robots e-Series

1. Connect the short cable to the connector at the wrist

2. Turn Tool Output 1 power to 24V (sourcing) using the teach pendant

Universal Robots CB-series

Provided connection cable comprises 3 flying leads:

1. Attach the flying leads in appropriate pins in the control box as follows:

a. The RED lead to any 0V pin

b. The GREY lead to any 24V pin

c. The PINK lead to a DO pin

KUKA IIVA

Flanges: media flange IO pneumatic (X11-X12), media flange IO electrical (X41, 42), media flange IO

valve pneumatic (X91, X92)

1. Connect the short cable to one of the 8-pin connectors at the wrist

2. Turn on the power (24V)

Yaskawa Motoman HC10 w/YRC1000micro controller

1. Provide a separate 24VDC power supply for connection through the “S” connector at the base

of the robot and through to connector S-2 (0.3mm2 pins 9 – 16) at the wrist exit. Two of the wires

will supply Gentle Duo Mini with power from the auxiliary power supply. The PINK Gentle Duo

Mini lead is signal where +24V is gripper open and 0V is gripper closed. Select a third wire from

S-2 for the signal that will pass through the S connector at the base.

2. Apply a low current coil relay similar to the Releco C10-A10X (Coil draws 32mA @ 24VDC) to

the din rail with the CN4 breakout board. Pass the +24V from the aux power supply through the

normally open contact and out to the robot wrist via the third wire selected (in step 1) passing to

the wire in the S-2 connector. That will be used as the digital input to Gentle Duo Mini as follows:

a. Attach to one side of the relay coil a digital output pin on the CN4 (OUT 5 is pin #16) This

is an NPN output so if the coil is polarity sensitive connect it to the negative.

b. Attach a +24V for Output Load terminal to the other side of the coil (Pin 15 on the CN4

is one such pin)

OPERATION

Universal Robots e- and CB-Series

Download UBIROS Gentle URCap from https://www.ubiros.com/urcap.html for easy operation. Refer to

the URCap manual at the end of this manual to learn more about its usage. You can also use the SET

function to set the Tool Output 1 (TO1) or the appropriate Digital Output (DOx) to 1 (HIGH - Open) or 0

(LOW - Close) to operate. Refer to the URCap manual at the end of this manual to learn more about its

usage.

KUKA IIVA

Flanges: media flange IO pneumatic (X11-X12), media flange IO electrical (X41, 42), media flange IO

valve pneumatic (X91, X92)

If you plugged your cable in X11, X41, or X91, set MF_Output_0 to 1 (HIGH - Open) or 0 (LOW - Close)

to operate, otherwise Set MF_Output_2 appropriately.

Yaskawa Motoman HC10 w/YRC1000micro controller

Just add a DigitalOut command in your program to open or close the UBIROS. In the wiring example

from earlier in this document it would be a DigitalOut #5 ON (see Figure 2) to open it and a DigitalOut

#5 OFF to close it, be sure to add a timer to allow the gripper time to open or close before your next

action.

Move to the drop position

Open the UBIROS gripper

Wait for the gripper to finish opening

On the DT versions of the HC10 you can also tie the wrist button 2 to the output you are using and in

hand jogging mode that button will toggle the gripper open/closed.

GRIPPER SETUP

Gentle Duo Mini is pre-programmed to host its own WiFi Access Point. You can adjust Gentle Duo Mini’s

settings by following the steps below:

1. Connect any WiFi-enabled device to the WiFi network

named “Ubiros-<Product ID>”. (Please note that this

network is not connected to the Internet)

2. Enter the WiFi password: GentleUbiros

3. After the connection is established, open any web browser

and go to: http://192.168.4.1/ to access the control panel.

4. Using the sliders on the page adjust the finger stroke to the

best level for your application. 0 indicates straight fingers.

Positive numbers move fingers towards the palm. Click “Go

and Gentle will show the new position.

5. Enter the current threshold for part confirmation signal.

6. Click “Save Values” to make positions permanent (will

survive a power cycle). When fingers are misaligned use

offset buttons to fix.

7. Enter the current threshold for part confirmation signal.

8. Click “Save Values” to makes positions permanent (will

survive a power cycle).

9. When fingers are misaligned, use calibration buttons to fix.

Figure 2 Sample Code for Yaskawa HC10

Figure 3 Gentle Duo Mini Control Panel

WARNING: setting these sliders above 7 and gripping

large objects may cause damage to the gripper

URCAP USAGE

URCap Feature Overview & Compatibility

Our URCap adds a tool center point installation node, a gripper configuration installation node, a gripper

actuation program node and a toolbar for actuating the gripper outside of program execution (e-Series

only). Available for PolyScope 5.2+ (e-Series) and PolyScope 3.8+ (CB-series).

Universal Robots e-Series

Installation

Copy the URCap downloaded from https://www.ubiros.com/urcap.html to a blank USB drive. Insert the

USB drive into the teach pendant or controller. Press the hamburger menu button in the top right (Figure

4) and choose “Settings → System → URCaps → +” (Figure 5). Navigate the available drives to find

and select the .urcap file. Restart PolyScope to finish installation. To add a TCP configuration, see the

TCP Configuration section.

Uninstallation

To uninstall this URCap, navigate back to the screen shown in Figure 5, select the URCap and press

the “-“ button.

Tool Center Point (TCP) Configuration

To install the Tool Center Point (TCP), choose your

Gentle product from the dropdown menu found at

“Installation → URCaps → Gentle TCP

Configuration” (Figure 6) and press the “Add TCP”

button. To change TCP values, select the text field,

enter a new value and press the “Save Changes”

button.

To activate this configuration, navigate to

“Installation → TCP”, select the added

configuration from the dropdown menu and set it

as default (Figure 8).

Gripper Configuration Node

Confirm that the pink wire is connected to the an output port or confirm wrist connection for e-series.

This node is available at “Installation → URCaps → Gentle Gripper”. Select the output port connected

to the gripper from the dropdown menu (Figure 7).

Figure 5 Installation, e-Series

Figure 4 Settings, e-Series

Figure 6 TCP Configuration, e-Series

The button below the dropdown menu will set the output to true (releasing) or false (gripping). If the

button displays “Initialize” and/or “Start”, click on the button and it will attempt to access the digital IO.

The button and dropdown disable themselves if the attempt fails.

Gripper Actuation in Program

To add the gripper actuation node, go to “Program → URCaps” and select “Gentle Open or Close”.

Select the “Gentle Open or Close” item from the program structure and switch to the “Command” tab.

On the gripper actuation node screen, select either “Open” to open the gripper, or “Close” to close the

gripper. Alternatively, you can use the SET function to set the gripper’s digital or tool output to 1 (HIGH

- Open) or 0 (LOW - Close) to operate the gripper if you choose not to use the actuation program node.

Toolbar (e-Series only)

To use the toolbar, select the UR+ icon and

the UBIROS - Gentle logo in the toolbar

(Figure 10). Pressing the button will toggle

the gripper between an opened and closed

state. If the button displays “Release” it is in

a gripping state and vice versa. If “Initialize”

and/or “Start” are displayed, select the button

to attempt IO access.

Figure 8 PolyScope TCP Window, e-Series

Figure 7 Gripper Configuration, e-Series

Figure 9 Gripper Actuation in Program, e-Series

Figure 10 Toolbar, e-Series

Universal Robots CB-Series

Installation

Copy the URCap downloaded from

https://www.ubiros.com/urcap.html to a blank

USB drive. Insert the USB drive into the

teach pendant or controller.

Select “Setup Robot” on the main screen and

choose “URCaps → +” (Figure 11). Navigate

the available drives to find and select

the .urcap file.

Restart PolyScope to finish installation. To

add a TCP configuration, see the TCP

Configuration section.

Uninstallation

To uninstall this URCap, navigate back to the

screen shown in Figure 11 for e-Series,

select the URCap and press the “-“ button.

TCP Configuration

The window in Figure 12 is available at

“Program Robot → Installation → Gentle

TCP Configuration”.

To install the tool center point, choose your

Gentle product from the dropdown menu and

press the “Add TCP” button. To change the

TCP values, select the text field, enter the

new value and press the “Save Changes”

button.

The “Remove TCP” button will remove the

displayed configuration, and the “Restore

Default” button will restore the default tool

center point settings.

To set the added TCP configuration as active,

navigate to “Program Robot → Installation →

TCP Configuration”, select the added

configuration from the dropdown menu and

set it as default.

Gripper Actuation in Program

To add the gripper actuation node, go to “Program Robot → Program → Structure → URCaps” and

select “Gentle Open or Close” (Figure 13).

Select the “Gentle Open or Close” item from the program structure and switch to the “Command” tab

(Figure 14). On the gripper actuation node screen, select either “Open” to open the gripper, or “Close”

to close the gripper. Alternatively, you can use the SET function to set the gripper’s digital output to 1

(HIGH - Open) or 0 (LOW - Close) to operate the gripper if you choose not to use the actuation program

node.

Figure 11 URCap Installation, CB-Series

Figure 12 Gentle TCP Configuration, CB-Series

Table of contents

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