Gripper

See the previous section Gripper Simulation on how to properly define gripper instructions compatible with the post processor. This approach properly defines locations in the GPL project, avoiding unexpected movements of the gripper’s axis/axes.

The Brooks PreciseFlex IntelliGuide grippers available are:

1.Brooks PreciseFlex IntelliGuide s23

2.Brooks PreciseFlex IntelliGuide s60

3.Brooks PreciseFlex IntelliGuide s23D

4.Brooks PreciseFlex IntelliGuide v23

5.Brooks PreciseFlex IntelliGuide v60

The Base Reference frame of each one of the grippers above is uniquely defined. To properly place the grippers with respect to the Flange Reference Frame of the robots, the following Reference position information must be used:

IntelliGuide s23

IntelliGuide s60

IntelliGuide s23D

IntelliGuide v23

IntelliGuide v60

PreciseFlex 400

[0.603,0,0,0,0,0]

N/A

N/A

[0,0,0,0,0,0]

N/A

PreciseFlex 3400

[0.033,0,0,0,0,0]

[0.033,0,0,0,0,0]

[0.033,0,0,0,0,0]

[-0.57,0,0,0,0,0]

[0,0,0,0,0,0]

PreciseFlex DD 4-axis

[-70.5,0,0,0,180,180]

[-70.5,0,0,0,180,180]

[-70.5,0,0,0,180,180]

[-71.1,0,0,0,180,180]

[-71.5,0,0,0,180,180]

PreciseFlex c10

[-82.5,0,0,0,180,180]

[-82.5,0,0,0,180,180]

[-82.5,0,0,0,180,180]

[-82.5,0,0,0,180,180]

[-82.5,0,0,0,180,180]

PreciseFlex c3

[0.313,0,0,0,0,0]

[0.313,0,0,0,0,0]

[0.313,0,0,0,0,0]

[-0.291,0,0,0,0,0]

[0.279,0,0,0,0,0]

PreciseFlex c3x

[-14.655,0,0,0,0,0]

[-14.655,0,0,0,0,0]

[-14.655,0,0,0,0,0]

[-15.258,0,0,0,0,0]

[-14.688,0,0,0,0,0]

PreciseFlex c5

[113,0,0,0,0,0]

[113,0,0,0,0,0]

[113,0,0,0,0,0]

[112.4,0,0,0,0,0]

[113,0,0,0,0,0]

Robots Brooks - Image 6

For what concerns Brooks PreciseFlex DD 4-axis and c10 robots, the IntelliGuide ISO flange available in the Robot Library must be added to the robot for visualization purposes (for the DD 4-axis robot, the IntelliGuide ISO flange geometry must be moved up by 9mm).

Robots Brooks - Image 7