myCobot Toolkit: Find the Perfect Gripper for Robotic Arm

1. Introduction

This article will compare several end effectors of the myCobot series robotic arms, analyzing their performance characteristics and applicable scenarios. The myCobot series consists of maker-type robotic arms with a working radius of no more than 300mm, suitable for desktop projects and educational experiments. Since end effectors directly affect the precision and operational range of robotic arms, selecting the appropriate effector is crucial for maximizing their functionality.

2. Overview of the End Effectors

A robotic arm without an end effector is like a human arm without a hand, incapable of performing complex actions such as grasping and carrying. The end effector is also critical in the robotic arm.

The above four are the commonly used end effectors in the myCobot series, each corresponding to different scenarios. Below is a table of basic parameters for the four products.

myCobot 280 M5Stack

The myCobot 280 is the world's smallest and lightest 6-DOF collaborative robot. Despite its compact size, the myCobot 280 boasts impressive power and features a wide range of hardware and software interaction methods, as well as diverse compatible expansion interfaces. It offers extensive support for secondary development across multiple platforms, effectively enabling users to create applications in various scenarios.It is mainly suitable for disciplines related to artificial intelligence, personal creative development, exploration of commercial applications, and other scenarios.

The myCobot 280 driver library facilitates secondary development and is compatible with puzzle programming, code programming, manual drag-and-drop applications, robot simulation programming, and other development control methods. This versatility provides users with a plethora of options for controlling the robot and tailoring it to their specific needs.

Environment Preparation

Robotic arm: myCobot 280 M5stack

Programming language: Python

Operating system: Windows 10/11

Python Lib: pymycobot

3.Using Gripper

Adaptive Gripper

This gripper is the most basic type, featuring electrically controlled serial communication. It can be freely controlled to open and close through a Python API.

from pymycobot.mycobot import Mycobot
mc = Mycobot('com3',115200)
#Zero calibration of gripper
mc.set_gripper_calibration（）
# Opening and closing of gripper
 0 is close,1 is open;int speed : 1~100
mc.set_gripper_state(0/1,speed)
# Control of the clamping distance of the gripper
int degree:0~100;int speed : 1~100
mc.set_gripper_value(degree,speed)

Example:

mc.set_gripper_value(100,80)
time.sleep(1)
mc.set_gripper_value(50,80)

Flexible Gripper

As the range of use cases expands, the adaptive gripper may not meet the requirements for grasping irregular objects. In response, the flexible gripper was introduced, which can protect objects and expand the gripping range.

from pymycobot.mycobot import MyCobot
    import time
    mc = MyCobot("COM3", 115200)
    mc.set_gripper_state(0, 80)
    time.sleep(3)
    mc.set_gripper_state(1, 80)
    time.sleep(3)
    mc.set_gripper_state(0, 80)
    time.sleep(3)

Parallel Gripper

For scenarios that require the grasping of delicate items such as screws, the previous two types of grippers have certain limitations. The most commonly used parallel gripper on the market is more suitable for these scenarios. Due to its small gripping distance and the ability to provide relatively large clamping force, this gripper is ideal for grabbing small and delicate items.

Dexterous Hand

What end effector design could be more versatile than a bionic hand? For tasks that require holding objects such as spherical or irregular shapes, the dexterous hand is the most suitable choice.

4. Advantages and Disadvantages Analysis

Each end effector has its own characteristics. Let's analyze them together.

5. Summary

Through the detailed analysis of the various grippers above, you should now be able to identify the end effector that best suits your application scenario. Choosing the right gripper not only maximizes the performance of the myCobot robotic arm but also brings your robot closer to mimicking the flexibility and precision of a human arm, enabling more diverse and efficient tasks. The perfect combination of a good end effector and a robotic arm is key to unlocking the robot's full potential!