Meca500 - Schunk MPZ 30 pneumatic gripper integration

 

This MecaNetwork example features the Meca500 industrial arm, the MPM500 pneumatic module and the Schunk MPZ-30 pneumatic gripper. The gripper is attached to the Meca500 with a custom bracket. Custom fingers are used for the pick-and-place action. The 3D models of the bracket and the fingers are provided below and are free to use. The gripper is controlled directly by the MPM500 pneumatic module. The provided demo showcases a simple pick-and-place example.  

Components

• Meca500 Robot: Go to link
• Meca500 firmware version 8.1.6 or above is required: Go to link
• Mecademic MPM500 pneumatic module: Go to link
• Schunk MPZ-30 pneumatic gripper: Go to link
• Custom bracket and fingers: Available for download at the bottom of the page
• M5 threaded barb fittings: Included with the MPM500 module OR push-to-connect barb fittings: McMaster reference
• M3 threaded barb fittings: Purchased separately for the gripper
• M4 x 0.7 screws (x3): For mounting the bracket to the gripper
• M3 x 0.5 screws (x7): For mounting  the fingers to both the Meca500 and the gripper
• 1/16 in ID or 4mm OD pneumatic cables: Purchased separately

Technical specifications of the gripper

• 3-finger centric double-acting gripper
• Wedge-hook kinematics
• 3 mm stroke per jaw
• Closing force: 55 N
• Opening force: 65 N
• Weight: 0.1 kg
• Recommended work piece weight: 0.28 kg
• Max operating pressure: 8 bar
• Repeat accuracy: 0.01 mm
• Dimensions: 30 x 32 mm

Assembly

Before assembly or operation, please refer to the Meca500 User Manual and the MPM500 User Manual.

It is also recommended to visit the How to install the MPM500 pneumatic module page in order to ensure a functioning set-up before adding the gripper. The article lists the assembly steps required after the successful installation of the MPM500 pneumatic module. 

Assembly steps:

1. Attach the fingers to the gripper, using the M3 screws. Attention: the gripper's finger orifices are not threaded. It is recommended to secure the finger with nuts.
   
   
   
2. Attach the custom bracket to the Meca500's flange using M3 screws; 
   
   
3. Attach the gripper to the custom bracket with M4 screws. The gripper is at 90 degree angle relative to the flange of the Meca500, facing down;    
   
   
4. Attach the barb fittings, if needed;                                                                
   
   
5. Attach air input to port IN (Meca500);                                                      
   
   
6. Attach port A (gripper) to port 1 (Meca500) using a piece of pneumatic cable; 
   
   
7. Attach port B (gripper) to port 2 (Meca500) using another piece of pneumatic cable; 
   
   
8. Optional: add the pneumatic muffler to reduce noise. 

Web interface code

The gripper's action can be tested with the Meca500's web interface. To learn how to use the web interface, please read the Programming Manual. Simply write and execute the GripperOpen and GripperClose commands to confirm that all connections are working. A simple pick-and-place command sequence is presented below. The sequence positions the robot with the MovePose() and MoveLin() commands. The gripper is then closed in order to seize the object, before placing it somewhere else and releasing it.

MovePose(215.813,1.282,144.232,20.74,82.846,-19.853)

MoveLin(214.355,1.239,108.308,138.4,86.206,-138.008)

GripperCloseDelay(1)

MovePose(174.313,116.071,145.192,-78.995,58.707,81.526)

MoveLin(173.682,115.627,114.353,-95.307,59.052,94.893)

GripperOpenDelay(1)

MovePose(174.516,116.213,134.623,-84.534,59.046,86.056)

MoveLin(173.682,115.627,114.353,-95.307,59.052,94.893)

GripperCloseDelay(1)

MovePose(215.813,1.282,144.232,20.74,82.846,-19.853)

MoveLin(214.355,1.239,108.308,138.4,86.206,-138.008)

GripperOpenDelay(1)

MoveJoints(0,0,0,0,0,0)

 

Attachments

Attachments (2)

stl

MPZ-30.stl
57.5 KB

stl

MPZ30_fingers.stl
47.7 KB