QB Robotics qb SoftClaw Guida alla configurazione
PLEASE READ CAREFULLY THESE INSTRUCTIONS BEFORE USE. DO NOT DISCARD: KEEP FOR FUTURE REFERENCE.
General Manual
RELEASE —
Dear customer,
Thank you for purchasing our product.
The present document provides information at best of our knowledge at the time of
publication. This document could present differences from the product and it is
subject to changes without notice: the latest version is available on our webpage
www.qbrobotics.com.
qbroboticss.r.l. does not assume any responsibility for errors or omissions.
In nocaseqbroboticss.r.l. will be responsible for any loss, problems or damages to
persons or property arising from the use of this document.
The qb® logo and qbrobotics® are registered trademarks of qbrobotics s.r.l. In the
following, the indications of (R) are omitted.
Table of Contents
1 Preface .......................................................................................................................... 1
1.1 Using this document 1
1.2 Symbols and conventions 1
1.3 Kit content 2
2 Safety............................................................................................................................. 3
2.1 Intended use 3
2.2 Safety instructions 3
2.3 EC Directives on product safety 3
2.4 Environmental conditions 4
2.5 Environmental safety 4
3 Technical data .............................................................................................................. 5
3.1 Mechanical dimensions 5
3.2 Center of Mass 5
3.3 Mechanical characteristics 6
3.4 Electrical characteristics 7
3.5 Tool connector pinout 8
3.6 Pad exchange system 9
4 Description ..................................................................................................................11
4.1 General 11
4.2 Characteristics and key features 12
4.3 Standard customization 12
5 Mounting and wiring ..................................................................................................13
5.1 Tool mounting 13
5.2 Cable connections 14
6 Software .......................................................................................................................18
6.1 ROS 18
6.2 C API library 27
6.3 Configuration GUI 30
7 Maintenance and warranty........................................................................................33
7.1 General 33
8 FAQ and troubleshooting ...........................................................................................35
8.1 The USB flash drive is not working 35
8.2 PC drivers and requirements 35
4 —PREFACE
GENERAL MANUAL —MAR 18, 2022 —RELEASE:V1.0.0
1 Preface
1.1 Using this document
The documentation must always be complete and in a perfectly readable state.
Keep the document accessible to the operating and, if necessary, maintenance personnel at all times.
Pass the document to any subsequent owner or user of the product.
1.2 Symbols and conventions
STYLE DESCRIPTION
Identifies information about practice or circumstances that can lead to
critical damages on the device and to personal injury.
Attentions help you identify a hazard, avoid a hazard and recognize the
consequence.
Identifies information about practice or circumstances that can lead to
damages on the device and to personal injury.
Attentions help you identify a hazard, avoid a hazard and recognize the
consequence.
Identifies remarkable information and additional notes.
CRITICAL:
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WARNING:
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NOTE:
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SOFTCLAW —2
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STYLE DESCRIPTION
Identifies tips and highlights.
Identifies the required tool to be used during the described assembly phase.
Monospaced text Identifies file paths, file names and software functions.
1.3 Kit content
The kit consists of:
N.1 qb SoftClaw;
N.1 ISO 9409-1-50-4-M6 tool flange adapter;
24 VDC power supply unit with cables;
N.1 main cable of 3m;
N.1 USB to RS485 converter with extension cord;
N. 1 set of magnetic pads;
N.1 USB flash drive:
URCap v3 (Polyscope versions 3.8+, 5.2+)
Manual;
Datasheet;
N.1 cylindrical pin EN ISO 8734 A d6x14 h6;
N.4 metrical screws EN ISO 4762 M6x10;
N.8 metrical screws EN ISO 10642 M3x8;
N.1 2 mm Allen hex key;
N.1 5 mm Allen hex key.
Optionals:
ISO 9409-1-40-4-M6 tool flange adapter;
ISO 9409-1-31.5-4-M5 tool flange adapter;
Kinova Gen3 tool flange adapter.
TIPS:
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3 —SAFETY
GENERAL MANUAL —MAR 18, 2022 —RELEASE:V1.0.0
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2 Safety
2.1 Intended use
The product design is intended for grasping objects up to 3700 g.
Fragile, sharp or sharp-edged objects shall not be grasped.
Objects having the main dimension greater than 200 mm shall not be grasped.
The product is intended for installation on robotic arms: the safety features are established only for use
as described in this document.
The safety of the product cannot be guaranteed in case of inappropriate use. One, single, inappropriate
use can result in a permanent damage to the safety of the product.
2.2 Safety instructions
2.3 EC Directives on product safety
The following EC directives on product safety must be observed.
If the product is being used outside the UE, international, national and regional directives must be
also observed.
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Check that all the content is intact after removing it from the packaging.
The device can be used only by specially trained staff.
Disconnect the power supply before installation, cleaning or maintenance operations.
Make sure that no residual energy remains in the system.
Always operate the product within the specifications defined.
Keep away from children and pets. Always set off or unplug when not in use.
Never use aerosol products, petroleum based lubricants or other flammable products on
or near the end-effectors.
Do not use any damaged power cable, plug, or loose outlet. It may cause damages to the
product or injury to people.
Do not touch electrical components to avoid damages due to electrostatic charges.
Make sure the end-effector is properly and securely bolted in place and cabled.
Do not use if damaged or defective. Do not disassemble.
Do not insert any objects between moving parts of the fingers.
Keep head and face outside the reach of the end-effector.
Do not wear loose clothing or jewelry when working with the end-effector.
Disrespect of these precautions can affect safety of the device.
SOFTCLAW —4
2.3.1 Machinery Directive (2006/42/EC)
Because of their small size, no serious threats to life or physical condition can normally be expected from
electric miniature drivers. Therefore, the Machinery Directive does not apply to our products. The
products described here are not "incomplete machines", so installation instructions are not normally
issued by qbrobotics.
2.3.2 Low Voltage Directive (2014/35/EU)
The Low Voltage Directive applies for all electrical equipment with a nominal voltage of 75 to 1500 V DC
and 50 to 1000 V AC. The products described in this device manual do not fall within the scope of this
directive, since they are intended for lower voltages.
2.4 Environmental conditions
Wrong environmental and operating conditions can lead to injuries, product damages and/or significant
reduction to the product's life.
2.5 Environmental safety
The qb SoftClaw must be disposed of in accordance with the applicable national laws, regulations and
standards.
All the components of this product have been chosen in accordance with the EU RoHS directive 2011/65/
EU: they are produced with restricted use of hazardous substances to protect the environment.
Observe national registration requirements for importers according to EU WEEE Directive 2012/19/EU.
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Any use or application deviating from intended use is deemed to be impermissible misuse.
This includes, but is not limited to:
Use before performing a risk assessment;
Use outside the permissible operational conditions and specifications;
Use in not low-dust environment;
Use in places with high temperature or humidity;
Use in wet places;
Use in potentially explosive atmospheres;
Use in medical and life critical applications;
Use close to a human's head, face and eye area;
Use as a climbing aid;
Use in outdoor applications.
5 —TECHNICAL DATA
GENERAL MANUAL —MAR 18, 2022 —RELEASE:V1.0.0
3 Technical data
3.1 Mechanical dimensions
The figurebelow shows the overall dimensions of the qb SoftClaw; distancesand tolerances in the
drawing are noted in millimeters[mm]and degrees[°].
Figure 1. — qb SoftClaw drawings
3.2 Center of Mass
The following table gives also the position of the Center of Mass of the SoftClaw and defines its Coordinate
System, like depicted in the following schemes.
Be aware that the above figure may be out of scale.
SOFTCLAW —6
UNIT LEFT
CoM x coordinate, OTX [mm] 1
CoM y coordinate, OTY [mm] 53
CoM z coordinate, OTZ [mm] 1
Weight [kg] 0.780
Center of Mass, OT, is evaluated w.r.t. ΣMconsidering the device mounted with its fixed finger facing the
ground, cf. the figures below.
Figure 2. — Robot Tool Coordinate System
On the left, it is represented the mechanical interface coordinate system ΣM(OM; XM, YM, ZM)of an
articulated robot, as defined by ISO 9787:2013. In particular, the center of the coordinate system, OM, is
on the interface surface of the robot tool flange and the ZMaxis is coincident with the tool flange axis of
symmetry.Riis the i-th revolute joint of the robot and(O1; X1, Y1, Z1)is the base coordinate system of the
robot.
On the right,there is the Tool Coordinate System,ΣT(OT; XT, YT, ZT), of the qbSoftClaw and the center,OT,
coincides with the center of mass of the device and its position is defined by the distance fromOM. TheZT
axis is normal to the palm, outgoing positive, and theYTaxis follows the proximal-distal direction and
orientation.
3.3 Mechanical characteristics
MINIMUM NOMINAL MAXIMUM
Payload [kg] — — 3.70
All coordinate systems here described follow the orthogonal right-hand rule.
7 —TECHNICAL DATA
GENERAL MANUAL —MAR 18, 2022 —RELEASE:V1.0.0
MINIMUM NOMINAL MAXIMUM
Grasping force [N] 0.5 —64.0
Grasping time [s] — — 1.0
Releasing time [s] — — 1.0
Look at the graph for details.
3.4 Electrical characteristics
MINIMUM NOMINAL MAXIMUM
Power supply
voltage
[VDC] 23.1 24 24.8
Power
consumption
[W] —3 22
Indice
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