SMC Industrial Automation: End-Effector Prototypes

Requirements:

Software (optional):

Autodesk Inventor 2023 (3D Modeling for Mechanical Design), PrusaSlicer (3D Printing), Blender

Project Description:

The project demonstrates the creation of several modular end-effector prototypes for robotic arms (ABB IRB 120, ABB IRB 14000 YuMi, Universal Robots UR3) as well as the creation of a 3D Viewpoint to better understand the Tool Center Point (TCP) of robots in 3D space. The modularity of end-effectors consist in their easy adaptability to a different type of robot by changing one part rather than the whole concept. The individual parts that make up the construction of each end-effector were created using 3D printing (using PLA material).

The repository contains 3D models of individual components and a Blender project for easy integration into the robot simulation model. Inside the blender file are prototypes of end-effectors with origins, position/rotation, etc. with the corresponding script in Python programming language.

Images with demonstrations on real robots can be found in the text below.

Project Hierarchy:

Repositary [/Data_Converter/]:

[/Blender/]
Description:
  Blender project with corresponding Python script and 3D prototype models.
    
[/SMC_EE_*/]
Description:
    End-effectors created using SMC Industrial automation products.
    
[/ABB_EE_SmartGripper_SMC_Vacuum/]
Description:
    Smart grippers of the ABB company extended with SMC vacuum suction cups.
   
[/RealSense_D435i_+_Holder/]
Description:
    RealSense 3D camera system mount for attachment to a robotic arm.
    
[/Viewpoint/]
Description:
    3D Viewpoint to better understand the Tool Center Point (TCP) of robots in 3D space.
    

Catalogue of prototypes:

SMC Magnetic Gripper:

	Weight [kg]	Position [m]	Orientation [-]
EE_SMC_MHM_ABB_IRB_120_001	0.710	[0.0, 0.0, 0.2177]	[1.0, 0.0, 0.0, 0.0]
EE_SMC_MHM_Universal_Robots_UR3_001	0.720	[0.0, 0.0, 0.2177]	[1.0, 0.0, 0.0, 0.0]

Product Link: SMC (MHM-X6400)

SMC Non-contact Gripper, Cyclone Type:

	Weight [kg]	Position [m]	Orientation [-]
EE_SMC_XT661_2A_ABB_IRB_120_001	0.110	[0.0, 0.0, 0.1765]	[1.0, 0.0, 0.0, 0.0]
EE_SMC_XT661_2A_Universal_Robots_UR3_001	0.120	[0.0, 0.0, 0.1765]	[1.0, 0.0, 0.0, 0.0]

Product Link: SMC (XT661-2A-R)

SMC Non-contact Gripper, Bernoulli Type:

	Weight [kg]	Position [m]	Orientation [-]
EE_SMC_XT661_4C_ABB_IRB_120_001	0.295	[0.0, 0.0, 0.1877]	[1.0, 0.0, 0.0, 0.0]
EE_SMC_XT661_4C_Universal_Robots_UR3_001	0.305	[0.0, 0.0, 0.1877]	[1.0, 0.0, 0.0, 0.0]

Product Link: SMC (XT661-4C-X427)

SMC 4.5 Stage Bellows Vacuum Pad with Adapter:

	Weight [kg]	Position [m]	Orientation [-]
EE_SMC_ZP2_ABB_IRB_120_001	0.095	[0.0, 0.0, 0.186]	[1.0, 0.0, 0.0, 0.0]
EE_SMC_ZP2_Universal_Robots_UR3_001	0.105	[0.0, 0.0, 0.186]	[1.0, 0.0, 0.0, 0.0]

Product Link: SMC (ZP2-TB15ZJS6-AL12-06)

ABB Smart Gripper with SMC Vacuum Pad:

Notes:

• F = Fingers
• VL = Vacuum Suction Cup (L)
• VR = Vacuum Suction Cup (R)
• C = Camera

	Weight [kg]	Position [m]	Orientation [-]
ABB_Smart_Gripper_R_Type_1_001	0.300	F: [0.0, 0.0, 0.1142] VL: [0.059, 0.0185, 0.0375] VR: [-0.059, 0.0185]	F: [1.0, 0.0, 0.0, 0.0] VL: [0.707107, 0.0, 0.707107, 0.0] VR: [0.0, -0.707107, 0.0, 0.707107]
ABB_Smart_Gripper_L_Type_1_001	0.275	F: [0.0, 0.0, 0.1142] VL: [0.059, 0.0185, 0.0375] C: [-0.00727, 0.0297, 0.03506]	F: [1.0, 0.0, 0.0, 0.0] VL: [0.707107, 0.0, 0.707107, 0.0] C: [0.5, -0.5, 0.5, 0.5]
ABB_Smart_Gripper_R_Type_2_001	0.295	F: [0.0, 0.0, 0.1142] VL: [0.0585, 0.0185, 0.0375] VR: [-0.0585, 0.0185, 0.0375]	F: [1.0, 0.0, 0.0, 0.0] VL: [0.707107, 0.0, 0.707107, 0.0] VR: [0.0, -0.707107, 0.0, 0.707107]
ABB_Smart_Gripper_L_Type_2_001	0.270	F: [0.0, 0.0, 0.1142] VL: [0.0585, 0.0185, 0.0375] C: [-0.00727, 0.0297, 0.03506]	F: [1.0, 0.0, 0.0, 0.0] VL: [0.707107, 0.0, 0.707107, 0.0] C: [0.5, -0.5, 0.5, 0.5]

Product Link: SMC (ZP3-ZP3-T13BS-A5)

Intel® RealSense™ Depth Camera D435i:

	Weight [kg]	Position [m]	Orientation [-]
EE_Intel_Camera_HT_Circular_001	0.095	Centroid: [0.0, 0.0, 0.005] Camera: [-0.1, 0.0, 0.03]	Centroid: [1.0, 0.0, 0.0, 0.0] Camera: [1.0, 0.0, 0.0, 0.0]
EE_Intel_Camera_HT_Square_001	0.095	Centroid: [0.0, 0.0, 0.005] Camera: [-0.1, 0.0, 0.03]	Centroid: [1.0, 0.0, 0.0, 0.0] Camera: [1.0, 0.0, 0.0, 0.0]

Product Link: Intel (D435i)

Real-World Test:

Universal Robots UR3:

ABB IRB 120:

ABB IRB 140000 (YuMi):

General Overview:

Contact Info:

Roman.Parak@outlook.com

Citation (BibTex)

@misc{RomanParak_DataConverter,
  author = {Roman Parak},
  title = {Modular prototypes of end-effector for robotic arms.},
  year = {2022-2023},
  publisher = {GitHub},
  journal = {GitHub repository},
  howpublished = {\url{https://https://github.com/rparak/SMC_End_Effector_Prototype}}
}

License

MIT