Hi all, I designed a tool that uses a suction cup as the end effector.
I bought a suction cup & vacuum pump similar to what’s found here and designed a 3D printed holder that interfaces with the Thor robot. The kit comes with a controller that converts a servo-type pwm signal to an on-off power output for the vacuum pump. So it easily connects to the same pwm signal that the original gripper uses. You will need a separate 5-6V power supply for the pump, as the current draw is too much for the Arduino’s onboard 5V supply. What I did was make a 6V regulator that feeds directly from the 12V input supply.
The 45 degree angle of the tool helps the robot have a better work envelope. When coupled with the modded Art2BodyUnion part I posted previously, the robot can pick up objects as close as 14cm from the center of the base, to as far as 40cm.
I threaded the vacuum tube down through the inside of the robot, and have the pump in the robot’s base, which
keeps the weight in the arm down.
Could I ask you for that design as well? I would like to include it in the modifications section of the github repository along with the design of your end-effector!
In fact, if you have a github account and want to make a pull request with your designs to Thor’s repository, I’ll be happy to accept it 🙂