Description
This page describes installation of the Vacuum (Suction) Grippers.
Required Hardware
- 3mm Allen (Hex) Wrench
Vacuum Gripper Type
Vacuum Gripper v2
Vacuum Gripper v1 (no longer available)
Installation File
PDF: Baxter Vacuum Gripper Guide v2
Step 1: Mount Gripper
This step describes proper attachment of the suction gripper.
A: To install vacuum generator, remove plug with 8mm hex key and in the same port, screw in vacuum generator, red tip first. Hand tighten.
B: Hook Vacuum Cup Gripper onto two posts on tool plate
C: Insert plug into receptacle until you hear a “click”
D: Tighten both screws with enclosed 3mm hex key
Step 2: Install Vacuum Generator
1: Remove Lower Front Panel using 2 thumb screws
2: Squeeze cap collar and pull tubing to remove end caps from supply tube harness. Remove zip tie around tubes.
3: Insert supply tubes into the “P” ports of each valve
4: Using wire bundle attached to plate, connect wires to valves as shown. Valves should be oriented "A” (on front of valve) down, larger valve to outside. Right side is shown
5: Using 2.5 mm hex key, screw valves in place using four M3 x 25mm screws provided
6: Place gray foam gasket on valve as shown
7: On same side as valve install, remove black plastic hole plug from Lower Front Panel
8: After valves are installed, gently re-attach Lower Front Panel. Re-install 2 thumb screws to hold panel in place
Determine air supply tubing diameter. Connect tubing to rear of robot at connector panel.
- For 1/4” tube, insert tubing into adapter.
9: For 6mm tube, remove adapter then insert tubing into fitting
Step 3: Attach Vacuum Tubing to Arm
Note: Rethink Robotics recommends grounding the Gripper to the Pedestal using the provided ESD ground wire, routing it with tubing.
A: Attach ground wire to same side as Gripper
Remove pedestal bolt on selected side. Attach large ring terminal end of wire and toothed washer to pedestal. Hand- tighten bolt. Using a 17 mm wrench, TIGHTEN A HALF TURN MORE.
B: Attach other end of ground wire as close as possible to vacuum cup
Use part of your vacuum cup configuration, or a manifold block screw boss as shown. Fasten using M4 screw and toothed washer provided.
Note: Make sure valves are installed before adding tubing. Check to ensure tubing is on same arm as installed valves.
1: Starting at the Gripper, insert tubing into Gripper fitting. Push tubing into fitting firmly.
2: Attach tubing (and optional wire) to each arm clip with zip ties, every 50cm as indicated.
3: Firmly tighten zip ties to fix tubing in place. Do not crush tubing. Trim zip ties.
4: Insert tubing end into valve port on Lower Front Panel.
Connect air supply to robot at the connect panel (Baxter's back)
Important: Air supply should be 60 PSI (min) to 90 PSI (max). Air must be filtered and oil-free.
Step 5: Attach Extensions (Optional)
Note: Up to two extensions may be attached to each Vacuum Cup Gripper.
1: Screw in extensions until snug
A: No Extension
B: One Extension
C: Two Extensions
Step 6: Attach Vacuum Cups
A: Select Vacuum Cup
Vacuum Cups should fit entirely on the object surface. Choose the smallest vacuum cup wherever possible. Choose a larger vacuum cup if robot cannot lift the weight of the object.
Note: Baxter can lift a maximum weight of 5 lbs (2.27kg), including weight of gripper which is 0.3 lbs (145 g). Texture, irregular surfaces, items packaged in bags, etc. may require a different vacuum cup selection.
B: Screw on Vacuum Cup until snug
Linked Here
- Baxter Hardware Setup - Baxter Hardware Setup Tutorial
Related Pages
- Baxter Linear Electric Gripper Installation - Instructions for Installing the Linear Electric Grippers.
Installation File
PDF: Baxter Vacuum Gripper Guide v1
Step 1: Mount Gripper
This step describes proper attachment of the suction gripper.
A: Hook Suction Gripper onto two posts on hand
B: Insert plug into receptacle until you hear a “click”
C: Fasten Gripper with 3mm Hex and Screws
Step 2: Install Vacuum Generator
Using a 2.5mm hey key, loosen the two screws from the lower front panel.
Remove lower front panel, gently pulling straight out.
1: Plug wiring harness into socket
2: Connect air in
Remove plug from T-connection tubing.
Important: Plug must remain in place if no vacuum generator is attached.
Connect tubing to bottom part of vacuum generator (Air In).
3: Connect air out
Connect tubing exposed coming from the top of the panel to the top port of the Vacuum Generator
4: Attach appropriate control wires
Right Vacuum Gripper - plug wires marked SR-R and BR-R into vacuum generator.
Left Vacuum Gripper - plug wires marked SR-L and BR-L into vacuum generator.
5: Fasten generator to base
Using included screws, fasten generator to metal plate on the same side as the corresponding gripper.
6: Gently re-secure front panel
Step 3: Attach Vacuum Tubing to Arm
Starting at Gripper [1], loosely thread the tubing through the arm clips.
Insert tubing end [6] into the UPPER air inlet. Leave any extra length of tubing between connections [5] and [6].
Push tubing into air inlet until it stops.
Rotate hose so as to not block the hand cameras.
Step 4: Connect air supply to robot
Connect air supply to robot at the connect panel (Baxter's back)
Important: Air supply should be 60 PSI (min) to 90 PSI (max). Air must be filtered and oil-free.
Step 5: Attach Extensions (Optional)
Note: Up to two extensions may be attached to each Vacuum Cup Gripper
Screw in extensions until snug.
A: No Extension
B: One Extension
C: Two Extensions
Step 6: Attach Vacuum Cups
A: Select vacuum cup according to manipulated object.
Vacuum Cups should fit entirely on the object surface. Choose the smallest vacuum cup wherever possible. Choose a larger vacuum cup if the robot cannot lift the weight of the object with a smaller one. Textured or irregular surfaces may require a larger vacuum cup.
Note: Robot can lift a maximum weight of 5 lbs (2.27kg)
B: Screw on selected vacuum cup until snug.
Linked Here
- Baxter Hardware Setup - Baxter Hardware Setup Tutorial
Related Pages
- Baxter Linear Electric Gripper Installation - Instructions for Installing the Linear Electric Grippers.
