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Pioneer Gripper

Pioneer 3-DX with Gripper and LaserThe Pioneer Gripper is a 2-axis, 2 degree-of-freedom (dof) robotic manipulator available for Pioneer 3-DX or Pioneer 3-AT. Driven by a two, reversible DC servo-motors under control of the Pioneer microcontroller, the gripper opens and closes horizontally, and raises up to carry the grasped object off the floor.

Front and rear break beams between the paddles indicate when an object is in between the paddles. When closing, the gripper automatically senses pressure and stops. (Grasping pressure is configurable.)

The Pioneer Gripper can be used in research projects involving multi-robot object movement and manipulation, object identification and sorting, and challenging and interesting educational exercises.

In its fully down and open state, the two 1.5 inch (3cm) tall by 3.5 inch (9.5cm) deep P2 Gripper paddles, each with 2mm soft-foam pads on the inside, are 8.4 inches (21.5cm) apart and ride 1.2 inches (2.4cm) off the floor with the Pioneer 2-DX or just 0.25" (1 cm) off the floor with the AT. The paddles extend out from the Pioneer's main body 5 inches (11.25cm).

The gripper paddles close together horizontally until they grasp an object or close on themselves. The grasping pressure is under software control, and varies between 0.5 lbs (170g) and 5 lbs (1.7kg). Under independent control and drive, the gripper's lift mechanism rises 4 inches (9 cm) and can lift objects weighing up to 5.5 lbs (2.5kg).

Key Features
  • Nose mounted 2-axis arm allows grippers to handle objects 1 to 21.5 cm wide
  • 2 degree-of-freedom gripper provides sturdy, low maintenance handling
  • Twin break beams between gripper paddles provide accurate positioning information
  • Bump sensors inside each gripper provide allow software pressure controls
  • Good response time of 3 seconds from fully open to fully closed position
  • Strong 5.5 lbs. (2.5kg) lift capacity
  • Vertical 4-in (9cm) rise allow object to be raised high or just above the floor to avoid blocking robot sonar

Gripper Specifications
MOTION: 2-axiz--horizontal and vertical--with 1 degree of freedom
POWER: +5 and +12 VDC supplied by Pioneer robot 
DIMENSIONS: 10.5" x 2" x 1.75" (25.5 cm x 4.4 cm x 3.5 cm)
LIFT WIDTH: Grippers part to 9" (19.2 cm)
LIFT HEIGHT: Two vertical stops: one about 3/4 inch off the ground ( so tall objects won't block robot sonar) and one at the top of the gripper 
PAYLOAD: 5.5 lb (2.5 kg) lift capability, lateral pressure software controlled 

SENSORS: Front and rear break beams between gripper paddles; Pressure sensors inside each gripper paddle 
SPEED: 3 seconds from fully open to fully closed position. 
CONSTRUCTION: anodized, CNC fabricated, and painted aluminum, with foam-covered gripper paddles

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