Ruofan Posted August 13, 2018 Share Posted August 13, 2018 Hi, I am a PhD. student in Northeastern University. There is a 3-Finger Adaptive Robot Gripper (It is from ROBOTIQ) in our lab, and my work now is to install this gripper on Sawyer to let Sawyer work together with this gripper to realize some pick and place tasks. My problem is that, if I want to install this gripper on Sawyer, what kind of specific hardware (something likes an adapter, a connector or so on) do I need? 1 Quote Link to comment Share on other sites More sharing options...
Tobias Johannink Posted August 13, 2018 Share Posted August 13, 2018 Hey Ruofan, You need a coupling and a wrist adapter plate to mount the coupling to the Sawyer. Take a look at page 15: https://www.shopcross.com/sites/default/files/data-sheets/Robotiq-Product-List-Catalog.pdf And you will take a look at this topic as well: 1 Quote Link to comment Share on other sites More sharing options...
Ruofan Posted August 13, 2018 Author Share Posted August 13, 2018 Hi Tobias, Thank you very much! Quote Link to comment Share on other sites More sharing options...
Jake Hiltz Posted August 14, 2018 Share Posted August 14, 2018 Thank you Tobias for the great info. The bolt pattern on Sawyer's arm is ISO 9409-1-40-4-M6, so make sure to get the plate that supports that specification. Here is a link to a drawing. http://mfg.rethinkrobotics.com/intera/End_of_Arm_Tooling#Sawyer_Standard_Tool_Plate Quote Link to comment Share on other sites More sharing options...
Ruofan Posted August 14, 2018 Author Share Posted August 14, 2018 Hi Jake, Thank you very much! Quote Link to comment Share on other sites More sharing options...
Akira Posted August 16, 2018 Share Posted August 16, 2018 Hi i'm student bachelor degree i'm just got the robotiq 2 hand E-gripper, i would like to ask How to connect the Sawyer robot with the robotiq gripper? Have we find adapter to convert the TCP/IP signal from Sawyer into RS 485 signal? or in Intera 5.3 Ethernet IP, can we use it to send the Modbus RTU to controlled? but i found that the robotiq have its own EDS files, can we import EDS to the Sawyer robot? i just begin to learn Sawyer robot, didn't know what is the EDS or EthernetIP Quote Link to comment Share on other sites More sharing options...
Jake Hiltz Posted August 29, 2018 Share Posted August 29, 2018 Hi Akira, I wish I had an easy answer, but I haven't set one of these up before. Some sort of TCP/IP to serial converter might work. Regarding Ethernet IP (and the associated EDS files), Sawyer is an "adapter" which can talk to a "scanner" (which is often a PLC). I think the Robotiq gripper might also be a scanner, so don't think that would work. You might able to use the Universal Controller from Robotiq and communicate with it via TCP/IP messages to/from Sawyer. The user manual for the gripper shows the strings that need to be sent to the controller for various commands starting on section 4.7.2 https://robotiq.com/support/hand-e/literature-instruction-manual Quote Link to comment Share on other sites More sharing options...
nselby Posted May 20, 2019 Share Posted May 20, 2019 The links have changed in the past year. I think the new links are: Robotiq Assets: https://assets.robotiq.com/website-assets/support_documents/document/online/Hand-E_Instruction_Manual_Web_20190306.zip/Hand-E_Instruction_Manual_Web/Content/6. Specifications.htm The part number for the adapter is AGC-CPL-064-002. I'm looking into buying this to test on my Sawyer. I'll edit this post with an update later. Remember that Sawyer's end-of-arm tool plate is ISO 9409-1-40-4-M6. Quote Link to comment Share on other sites More sharing options...
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