ActivMedia Robotics Pioneer Gripper Manual de usuario

Pioneer

Gripper

Under international copyright laws, this manual or any portion of it may not be copied or in any

way duplicated without the expressed written consent of ActivMedia Robotics.

The software on disk and on the controller FLASH, which accompany the Pioneer Arm and are

available for network download by ActivMedia Robotics customers, are solely owned and

copyrighted or are licensed products distributed by ActivMedia Robotics.

Developers and users are authorized by revocable license to develop and operate custom

software for personal research and educational use only. Duplication, distribution, reverse-

engineering, or commercial application of the ActivMedia Robotics or licensed software and

hardware without the expressed written consent of ActivMedia Robotics is explicitly forbidden.

The various names and logos for products used in this manual are often registered trademarks or

trademarks of their respective companies. Mention of any third-party hardware or software

constitutes neither an endorsement nor a recommendation.

ActivMedia Robotics’ Pioneer Gripper Manual v6, September, 2004

Pioneer Gripper

Important Safety Instructions

 Read the installation and operations instructions before using the equipment.

 Avoid using power extension cords.

 To prevent fire or shock hazard, do not expose the equipment to rain or moisture.

 Refrain from opening the unit or any of its accessories.

 Keep equipment away from hair or fur.

Inappropriate Operation

Inappropriate operation voids your warranty! Inappropriate operation includes, but is not

limited to:

 Dropping the equipment

 Overloading the Arm above its payload capacity

 Getting the equipment wet

 Continuing to run the equipment after hair, yarn, string, or any other items have become

wound in one or more of its joints

 All other forms of inappropriate operation or care

Use ActivMedia Robotics’ authorized parts ONLY;

warranty void otherwise.

iii

Contents

CHAPTER 1 INTRODUCTION..............................................................................................................................1

GRIPPER PACKAGE ...................................................................................................................................................1

Package Components ..........................................................................................................................................1

User Supplied Components .................................................................................................................................1

ADDITIONAL RESOURCES .........................................................................................................................................1

Software...............................................................................................................................................................1

Newsgroups .........................................................................................................................................................2

Support ................................................................................................................................................................2

CHAPTER 2 THE PIONEER GRIPPER ...............................................................................................................3

SPECIFICATIONS .......................................................................................................................................................3

CHAPTER 3 INSTALLATION AND TESTING...................................................................................................5

STEP 1: REMOVE POWER ..........................................................................................................................................5

STEP 2: LOOSEN OR REMOVE THE ROBOT'S NOSE ....................................................................................................5

STEP 3: REMOVE TOP DECK PLATE ..........................................................................................................................5

STEP 4: INSTALL POWER AND CONTROL CABLES .....................................................................................................6

Power Cable ........................................................................................................................................................6

Signal Cable ........................................................................................................................................................6

STEP 5: REASSEMBLE ...............................................................................................................................................6

STEP 6: ATTACH THE GRIPPER .................................................................................................................................7

STEP 7: ENABLE THE GRIPPER IN AROS ..................................................................................................................7

STEP 7: TEST THE GRIPPER .......................................................................................................................................8

TROUBLESHOOTING..................................................................................................................................................8

CHAPTER 4 OPERATION AND PROGRAMMING ........................................................................................10

GRIPPER ON THE USER I/O PORT ............................................................................................................................10

GRIPPER SERVERS ..................................................................................................................................................11

AROS GRIPPER CLIENT COMMAND SET ................................................................................................................11

GRIPPER Command with Gripper-Server Command Argument......................................................................11

GRASPING PRESSURE..............................................................................................................................................11

LIFTCARRY ...........................................................................................................................................................11

GRIPPER STATES AND STATUS................................................................................................................................12

ARIA GRIPPER SUPPORT .......................................................................................................................................13

CHAPTER 5 MAINTENANCE & REPAIR ........................................................................................................14

DRIVE LUBRICATION ..............................................................................................................................................14

FACTORY REPAIRS .................................................................................................................................................14

APPENDIX A ..........................................................................................................................................................15

AROS STANDARD SERVER INFORMATION PACKET................................................................................................15

APPENDIX B...........................................................................................................................................................16

H8S USER I/O-GRIPPER PORT................................................................................................................................16

WARRANTY & LIABILITIES .............................................................................................................................18

Pioneer Gripper

Chapter 1 Introduction

Congratulations on your purchase and welcome to the rapidly growing community of

researchers, developers, and enthusiasts of ActivMedia mobile robots.

This Pioneer Gripper Manual provides the general and technical details you will need to install

and operate the Gripper accessory on your Pioneer 3 or 2 mobile robot (DX and AT models).

We also encourage you to use these companion resources that come with your robot:

 Operations Manual

 ARIA and other related software manuals

 Registration & Account Sheet

 Personal account for the http://robots.activmedia.com support server

 Pioneer [email protected] support newsgroup

GRIPPER PACKAGE

Our experienced robotics manufacturing staff put your Pioneer Gripper through a “burn-in”

period and carefully tested it before we shipped the hardware. Our care extends beyond:

Besides the companion resources listed above that bring the whole community of Pioneer to

you, we warranty the Gripper against mechanical and electronic parts and labor defects for

one year.

Even though we’ve made every effort to make your package complete, please check the

components once again after you unpack it from the shipping crate.

Package Components

 Pioneer Gripper

 Mounting hardware

 Signal cable (20-conductor flat ribbon cable with IDC connectors)1

 Power cable (2-conductor twisted pair with 0.15 latchlock connectors)

 Pioneer Gripper Manual

User Supplied Components

 Pioneer 3- or 2-DX or AT mobile robot

 Set of hex wrenches that accompanied your original robot

 Small, flat-bladed screwdriver

ADDITIONAL RESOURCES

New ActivMedia Robotics customers get three additional and valuable resources:

 A private account on our Internet server for software, updates, and manuals

 Access to private newsgroups

 Direct access to the ActivMedia Robotics technical support team

Software

You should already have the necessary software—it comes with the robot. We also maintain a

24-hour, seven-day per week Web server where customers may obtain all ActivMedia Robotics

software and support materials:

http://robots.activmedia.com

1Cables may be installed in your new Pioneer 2 robot.

Some areas of the website are restricted to licensed customers. To gain access, enter

the username and password written on the Registration & Account Sheet that

accompanied your robot.

Newsgroups

We maintain several email-based newsgroups through which ActivMedia robot owners

share ideas, software, and questions about the robot. Visit the support

http://robots.activmedia.com website for more details. To sign up for pioneer-users,

for example, send an e-mail message to the –requests automated newsgroup server:

To: [email protected]

From: <your return e-mail address goes here>

Subject: <choose one command:>

help (returns instructions)

lists (returns list of newsgroups)

unsubscribe

Our SmartList-based listserver will respond automatically. After you subscribe, send your

email comments, suggestions, and questions intended for the worldwide community of

Pioneer users:2

To: [email protected]

From: <your return e-mail address goes here>

Subject: <something of interest to pioneer users>

Access to the pioneer-users newslist is limited to subscribers, so your address is safe

from spam. However, the list currently is unmoderated, so please confine your

comments and inquiries to issues concerning the operation and programming of Pioneer

or PeopleBot robots.

Support

Have a problem? Can’t find the answer in this or any of the accompanying manuals?

Or do you know a way that we might improve our robots? Share your thoughts and

questions directly with us:

http://robots.activmedia.com/techsupport

Please include your robot's serial number (look for it beside the Main Power switch)we

often need to understand your robot's configuration to best answer your question.

Tell us your robot’s SERIAL NUMBER.

Your message goes directly to the ActivMedia Robotics technical support team. There a

staff member will help you or point you to a place where you can find help.

Because this is a support option, not a general-interest newsgroup like pioneer-users,

we reserve the option to reply only to questions about problems with your robot or

software.

2Note: Leave out the –requests part of the email address when sending messages to the newsgroup.

Pioneer Gripper

The Pioneer GripperChapter 2

Figure 1. Pioneer Gripper features

The Pioneer Gripper is a two-

degree of freedom (2-DOF)

manipulation accessory that

attaches to the front (nose) of a

Pioneer DX or AT mobile robot.

Independent segments—the

Gripper itself with paddles and a

Lift mechanism—let you grasp

objects on the floor, and raise

and carry them to a new

location.

The Gripper and Lift each are

driven by reversible-DC motors,

whose direction and power are

controlled through digital output

lines from your Pioneer robot’s controller. Embedded limit switches sense the Gripper

and Lift positions. The paddles each contain grip-sensor and infared (IR) breakbeam

switches, both front and rear, to sense objects and their positions within its grasp. These

sensors, too, interface with the Pioneer controller through dedicated digital input lines.

Although you may operate the Gripper directly through its digital I/O interface, there are

special servers included in your robot controller’s embedded software to fully manage its

operations. Accordingly, the client software developer need only issue a single, simple

command to actuate fundamental manipulation operations.

Figure 2. Pioneer Gripper and Lift dimensions

SPECIFICATIONS

In its fully down and open state, the two 3cm (1.5 inch) tall by 9.5cm (3.5 inch) deep

Pioneer Gripper paddles, each with 2mm soft-foam pads on the inside, open to 21.5cm

(8.4 inches) apart and ride 2.4cm (1.2 inches) off the floor with the DX or just 1cm (0.25

inches) off the floor with the AT models. The paddles extend out from Pioneer’s main

body 11cm (5 inches) beyond the top deck’s edges.

The paddles close horizontally until they grasp an object or close on themselves. The

grasping pressure is under software control and varies between 200g (0.5 lbs ) and 2kg (5

lbs). The Lift mechanism reaches nearly to the floor, and rises 7cm (3.5 inches) above,

and can lift objects weighing up to 2kg (5 lbs).

Pioneer Gripper

Chapter 3 Installation and Testing

Please read through this chapter carefully before you attempt to attach the Pioneer

Gripper to your robot. If for any reason you do not wish to perform the work yourself,

contact ActivMedia Robotics and make arrangements to have the assembly installed at

the factory.

STEP 1: REMOVE POWER

Switch Main Power off. REMOVE ALL BATTERIES! If you have the Pioneer 3

docking/charging accessory, reach in through the robot’s back door and remove the

automotive spade-type fuse from its socket on top of the battery box.

Skip to Step 6 if the Gripper came with your new robot;

it just needs to be attached.

STEP 2: LOOSEN OR REMOVE THE ROBOT'S NOSE

For new installations, you need to run the power and signal through the nose and into

the body of your Pioneer robot. Use the 3mm hex wrenches that came with the robot.

Depending on the model, two or three screws hold the nose to the underside of the

sonar ring. The bottom of the DX nose is hinged; another screw attaches the nose to the

underside of the AT. Swing the unfastened DX nose down (the nose comes completely

off with older models), or the AT nose towards the left side of the robot.

Also remove the plastic plug that covers the rectangular gripper cable-access hole in

the front face, lower right corner of the nose.

STEP 3: REMOVE TOP DECK PLATE

Using the 3mm hex wrench that

came with your robot, remove

the screws (Figures nearby) that

attach the front top deck plate to

the robot’s body.

Figure 3. Pioneer 3-DX and -AT front deck screws

Lift the front top deck open and

attach the cables through the

front half of the robot per Step 4.

Close and re-attach the front half

of the top plate, then open the

rear half of the top plate to

access the termination points for

the Gripper cables.

Installation

Figure 4. Rear deck screws for the Pioneer 2 robots

STEP 4: INSTALL POWER AND CONTROL CABLES

Start from the front of the robot and route the Gripper’s signal and power cables to their

respective locations in the body: the signal cable to the controller board and the power

cable to power terminals on the battery board. If you have an onboard PC, we

recommend that you run the cables under the computer, which means that you may

have to loosen, if not remove its four attaching screws and slide the cables underneath.

The power cable should be run through the wiring slots along the right side of the robot.

If you have a P3-AT with onboard computer, run both cables over the top of the

computer and to the respective controller and battery board. Re-install the front half of

the top plate and open the rear half to attach the cables to their respective

terminations. NOTE: If you have a factory installed Gripper, the power cable is attached

to the motor/power board, not the battery board.

Power Cable

Figure 5. Pioneer 2/3 battery board power terminals

At the rear of the robot, on

top of the box that holds the

batteries, locate the main

Power Out screw terminals.

Loosen those screws with a

flat-bladed screwdriver, add

the spade terminal ends of

the Gripper power cable to

that connector--black wire to black wire GND and yellow wire to yellow wire 12 VDC,

then tighten the screws well.

Signal Cable

Locate the User I/O-Gripper connector on your robot’s controller. See Appendix B for

details. Route the Gripper signal ribbon cable and plug it into that IDC connector. Seat

it well so that the latches lock the connector and cable to the board.

STEP 5: REASSEMBLE

Reverse the process in Steps 2 and 3 to re-attach your Pioneer’s top deck plate. Hold it a

few centimeters above the body and reattach the various cables to the Motor-Power

Interface board.

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