Purpose
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Use the Resource Builder workbench to easily build the gripper.
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The geometry of the gripper will be imported from an external file to build the tool resource. To be able to simulate the gripper motion, the resource will be extended with the kinematic chain and other information needed to use it in a material handling project.
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Steps
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1
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Preparation
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1.1
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Switch to the Resource Builder workbench.
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1.2
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Create a new, empty document.
If another document is already open in the running session, this step has to be executed. If not, this step can be skipped.
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1
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Click on the File command in the upper document toolbar. A drop down menu opens.
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2
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Click on the New command.
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3
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If a document is already open, a message appears to decide to save that document, close it without saving or to cancel the execution of the New command.
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2
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Define the tool resource
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2.1
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Import the geometry from the file GEH6140IL03B0.step, which is located on the installation drive of this manual.
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2.2
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Create a new tool type resource for the gripper.
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3
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Build the gripper shape
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3.1
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Build the kinematic skeleton of the gripper. With this kinematic the gripper can be closed or opened during the programming.
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3.2
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Attach the imported gripper geometry to the resource.
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4
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Define the gripper properties
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4.1
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Give an appropriate name to the gripper and define its kinematic limits.
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4.2
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Define the home position(s) of the gripper.
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5
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Create the gripper adapters
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5.1
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Create a tool frame and parent adapter. The frame will be used as the current TCP during the programming and the adapter will be used to grab or release the workpiece.
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6
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Define the gripper behavior
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6.1
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Set the option to grab components with this adapter and select the monostable mode for this kinematic. This means you will be able later on to open or close the gripper over a signal.
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6.2
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Define a new resource behavior.
The standard behavior can be customized in order to pack multiple actions in one signal. Modify the standard behavior so you can close or open the gripper to grab or release the workpiece with one signal.
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7.1
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Save the completed gripper.
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Be sure to save your data frequently.
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