Barret Hand

Dafoe

Hi, I'm from Spain and new on the Forum! I'm doing an university project with RobotStudio and I want to use the Barrett Hand tool, but I can't find it anywhere . Do you know where can I download it from with the rslib. extension? It's very important for me! Thaaanks! 

Henrik Berlin

I am not familiar with the Barrett Hand tool. Please provide some more information.

Dafoe

Here is a video about the Barrett Hand in RobotStudio: http://robotapps.robotstudio.com/details.aspx?fileId=129

And here are the CAD models to create the tool, but I donA't know how to do it!: http://www.barrett.com/robot/products-hand-models.htm

Henrik Berlin

I have modeled the Barrett Hand and made it available in RobotApps, see https://robotapps.robotstudio.com/Details.aspx?fileId=413

 

If you want to make any modifications, you can use the library source files at https://robotapps.robotstudio.com/Details.aspx?fileId=414

Edit 2015-07-06:
I have added new links since the old ones are broken
Source: https://robotapps.robotstudio.com/Details.aspx?fileId=f57a11aa-db62-4327-a743-179dad16d80a
Library: https://robotapps.robotstudio.com/Details.aspx?fileId=27e4a746-47dd-4985-998c-93447974ab49

Dafoe

Ohhh my God!!   Thank you so much!!!  Please, explain me how you have done it!

Henrik Berlin

First, you need to split the CAD model into several parts, one for each link. You can do this in the modeling tab. Create some empty parts and drag the bodies around.

Second, you need to model the mechanism. You can do it in two ways:
1: Use the Mechanism Modeler UI in RobotStudio.
or
2: Create a mechanism definition file (.rsxml) that describes the kinematics and import it using Import Library. If you use Visual Studio to edit the file, you can use a so-called xml schema to get support with the syntax. (Use the file GraphicComponentSchema.xsd available in the folder C:Program Files (x86)ABB Industrial ITRobotics ITRobotStudio 5.15Schemas). If you study the .rsxml file I created for the Barrett Hand, you will soon understand the syntax.

Dafoe

Thank you so much! But now I'm trying to give it a trayectory and I canA't finish it. Could you help me?

I modified the mechanism and I've done to the Barrett Hand 2 moves: "OpenHand" and "ClosedHand". Now I want to create a trayectory (PATH_10) with my robot (it has the Barrett conected) with two Targets: on the first Target, with the OpenHand and on the second Target, with the ClosedHand.

 

I think I have to make it writing it with RAPID, but I don't know how to do... 

Dafoe2012-11-26 14:01:32

Henrik Berlin

A good starting point is to watch the Smart Component tutorials available from http://www.abb.com/roboticssoftware. Click "How to use it" and to go "Free Tutorials".

You also need to configure I/O s in the controller. The video below shows you how.
http://youtu.be/JSdcVxgR6hg?hd=1

You should turn the hand into a smart component and use the joint mover component (or pose mover) to move the hand triggered by I/O. for the purpose of simulation, you also need to attach the object. The motion and the attachment should be triggered by I/O cross connected in the Station Signals. From the controller you can control I/Os using SetDO, WaitDI. Check the RAPID reference manual.

Good luck with your project!

Andraz23

Dafoe, can you please give us detailed information how to program Barrett Hand 2 moves: "OpenHand" and "ClosedHand" in robot studio?? I'm new in this software and I want to know how to grip box and put it in the other plase with barett hand. Tanks for answers!