K-Team KJ-Gripper User manual

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User manual
Version 1.0
June 2010

K-Junior Gripper User Manual rev 1.0 2

K-Junior Gripper User Manual rev 1.0 3
Documentation Author
Frederic Lambercy
K-Team S.A.
Rue Galilee 9, Y-Park
1400 Yverdon-les-Bains
Switzerland
Email: [email protected]
Url: www.k-team.com
Trademark Acknowledgements:
IBM PC: International Business Machines Corp.
Macintosh: Apple Corp.
SUN Sparc-Station: SUN Microsystems Corp.
LabVIEW: National Instruments Corp.
Matlab: MathWorks Corp.
K-Junior: K-Team.
LEGAL NOTICE:
•The contents of this manual are subject to change without notice
•All efforts have been made to ensure the accuracy of the content of this manual.
However, should any error be detected, please inform K-Team.
•The above notwithstanding, K-Team can assume no responsibility for any error in this
manual.

K-Junior Gripper User Manual rev 1.0 4
TABLE OF CONTENTS
1INTRODUCTION.................................................................................................5
1.1 HOW TO USE THIS HANDBOOK .....................................................................................5
1.2 SAFETY PRECAUTIONS.................................................................................................6
1.3 UNPACKING AND INSPECTION......................................................................................6
1.4 RECYCLING .................................................................................................................6
2THE K-JUNIOR GRIPPER.................................................................................7
2.1 OVERVIEW ..................................................................................................................7
2.2 ARM ............................................................................................................................8
2.3 GRIPPER ......................................................................................................................8
2.4 BATTERY.....................................................................................................................9
2.5 I2CADDRESS...............................................................................................................9
2.6 I2CREGISTER ..............................................................................................................9
3CONNECTIONS ................................................................................................. 11
3.1 ASSEMBLING .............................................................................................................11
3.2 DISASSEMBLING........................................................................................................12
4GRIPPER USE ....................................................................................................13
4.1 PROGRAMMING IN CLANGUAGE ...............................................................................13
4.2 SERIAL REMOTE CONTROL........................................................................................16
ATECHNICAL SPECIFICATION......................................................................17

K-Junior Gripper User Manual rev 1.0 5
1 INTRODUCTION
The hardware of K-Junior is based on a modular concept. The Gripper is a turret that
can be plugged on the basic configuration making object manipulation possible. Due to
the configuration of this turret, other turrets can be plugged on the top of it, but can't be
under the Gripper. The gripper must be the first turret plugged on the K-Junior in order to
keep mechanical fixings accessible.
In order to match which each configuration, the K-Junior Gripper is available in two
different versions.
The K-Junior gripper has an additional Battery (1350mAh) to keep the autonomy of
the K-Junior unchanged when used with the Gripper (up to 3h). The charger is on board,
an external power supply is provided with the Gripper. The monitoring of the battery is
made by the CPU.
A microcontroller installed in the gripper manages local functionalities: position and
speed control of the arm and gripper, battery management and communication with the K-
Junior. A I2C network connects this local microcontroller to the K-Junior processor. Some
registers accessible by the I2C bus allows to control the Gripper from the main processor,
where the high level control structure can be implemented.
1.1 How to use this handbook
This manual is organised into four chapters and an appendix. To learn how to make
the best use of your gripper turret you are urged to read all of chapters 2 to 4. The
appendix can be referred to as necessary.
•Unpacking and Inspection: K-Junior Gripper’s package description and first start-up
•The K-Junior Gripper: Description of all the gripper’s functionalities
•Connections: Explanation on how to connect (or disconnect) the gripper to the robot
•Gripper use: Instructions to program the gripper using the high level function or
access directly to the gripper registers.

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1.2 Safety precautions
Here are some recommendations on how to correctly use the K-Junior Robot:
•Don't force mechanical movements of the gripper! Movements of the gripper
mechanical parts have to be controlled ONLY by software. Forcing arm or gripper
(open or close) movements can damage the gripper mechanics!
•Keep out from the wet places! A contact with water can made a short circuit and
damage the electronics.
•Use only the official charger or the cable which is delivered with the Gripper.
Do not try to use another charger; this can cause irreversible damage to the battery.
•Don't plug or unplug any connector or turret when the robot is powered! All
connections and turret insertions must be made when the robot and the interface
are switched OFF. Otherwise damages can occur.
•Never leave the K-Junior powered when it is unused. When you have finished
working with K-Junior, turn it off. It will save the battery life
1.3 Unpacking and inspection
Please check that you have a complete package. You should find:
•Documentation
•The Gripper Turret with a Battery pack
•External power supply to charge the onboard battery
•Two screws to fix the Gripper on the K-Junior
1.4 Recycling
Think about the end of life of your robot! Parts of the robot can be recycled and it is
important to do so. It is for instance important to keep batteries out of the solid waste
stream. When you throw away a battery, it eventually ends up in a landfill or municipal
incinerator. These batteries, which contain Lithium Polymer, can contribute to the toxicity
levels of landfills or incinerator ash. By recycling the batteries through recycling
programs, you can help to create a cleaner and safer environment for generations to come.
For those reasons please take care to the recycling of your robot at the end of its life cycle,
for instance sending back the robot to the manufacturer or to your local dealer.
Thanks for your contribution to a cleaner environment!

K-Junior Gripper User Manual rev 1.0 7
2 The K-Junior Gripper
2.1 Overview
Figure 2.1: Overview of the Gripper turret layout
Make an external inspection of the turret. Note the location of the following parts:
1. Main Support
2. Screws to fix on the robot
3. Power input connector
4. Charge Led
5. Additional battery
6. Extension connectors
7. Power on Led
8. ON/OFF switch
9. Reset button
10. Arm
11. Gripper
12. Foam grip

K-Junior Gripper User Manual rev 1.0 8
2.2 Arm
The arm makes the displacement of the gripper possible. The movement of the arm
allows to grab object in front of the Robot, and takes it above. This allows the Robot to
keep its mobility and all sensors free of obstacle.
The arms is moved by a DC servo motor which is control by a local microcontroller to
allows the user to set every position he wants. The movement can be done at the
maximum speed, or with a speed regulation to avoid the lurching of the Robot. Different
speed can be adjust to match with the application. When you have a heavy load, you must
set a slower speed to avoid the lurching of the robot.
The maximum load that can carry the gripper is approximately 30g. The arm can be
moved between the position 0 "LOW position"(arm in the lowest position to grab object)
and 7000 "TOP position"(arm above the robot against the end stop).
A special mode (active by default) turn off the servo of the arm when it reach the TOP
position (between 5600-7000) or the LOW position (0-250). This will increase the battery
autonomy when the arm is in stable position.
2.3 Gripper
The gripper is installed at the end of the arm with two foam grip which allows to grab
different size and form of object. The user can choose the exact position of the gripper
between the maximal open position (5100 = where the gripper will form a angle of 180
degrees) and the closest position (0 = where each foam will touch the other). The maximal
size of an object is about 70mm, and the minimal size is about 1mm.
The user can know the exact position of the gripper only when there's no object
grabbed. When you grab an object, the servo will try to reach the closed position but
cannot reach it (because of the object between the two foam). This will make the
tightening.
If you know the size of your object, you can adjust the closed position to the object
size. This will allows you to limit the tightening torque, and then limit the current in the
motor (to increase the battery autonomy).
A special mode (active by default) turn off the servo of the Gripper when it reach the
Open position (between 2300-5100). This will increase the battery autonomy when the
Gripper is open.

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2.4 Battery
An additional battery is included in the Gripper to increase the autonomy of the
Gripper and the K-Junior. This is a LiPol Battery with a capacity of 1350mAh . A external
power supply adapter (5V - 1.4A) is deliver with the Deluxe package to charge the gripper
Battery. A complete charge take approximately 3 hours. Please be sure that the gripper
and the K-Junior are turn off. Otherwise, the charge process can be much longer.
2.5 I2C Address
The K-Junior Robot control the Gripper through an I2C bus. The turret address is
defined by 7 bits + 1 bit for the mode selection "write" or "read"
1
0 0 1 0 1 1 R/W
The Gripper I2C address is 0x97 in "read" mode and 0x96 in "write mode".
2.6 I2C Register
Many different register allows the user to configure and use the Gripper
I2C Address Reading Writing
0x30 Firmware Version Do Nothing, read only
0x31
0x32 Read the position of the Arm Set the Arm position without speed control (0-7000)
0x33
0x34 Read the position of the Gripper Set the Gripper position without speed control (0-5100)
0x35
0x36 Read the order of the Arm Set the Arm consign to reach a position with speed control
0x37
0x38 Read the order of the Gripper Set the Gripper consign to reach a position with speed control
0x39 Read the Arm speed value Set the Arm speed value for speed control
(0-255)
0x3A Read the Gripper speed value Set the Gripper speed value for speed control
(0-255)
0x3B Read the Arm turn off flag Configure the Arm turn off mode
(0 = disable, 1 = active)
0x3C Read the Gripper turn off flag Configure the Gripper turn off mode
(0 = disable, 1 = active)
0x3D
0x3E Read the Battery voltage Do Nothing, read only
0x3F Read the Battery remaining capacity Do Nothing, read only
All the 16bits register (Position, Consign, Voltage,...) must be read or write through
the LSB byte first.

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2.6.1 Firmware Version register
This register return the version and revision of the Gripper turret
2.6.2 Position Register (Arm and Gripper)
Reading: This register return the real position of the Arm (or the gripper). The returned
value is proportional to the angle of the Arm (or the Gripper). Where 0 is the "LOW position"
for the Arm and "closed position" for the Gripper. And the maximum position is 7000 for the
Arm and 5100 for the Gripper.
Writing: Setting this register will change the position of the Arm or the Gripper. The servo
will immediately move to the position without speed control. Warning, move too fast can
make the K-Junior lurching.
2.6.3 Order register (Arm and Gripper)
Reading: This register return the previous order of position value which was set by the
user.
Writing: Setting this register will told to the turret to move the Arm or the Gripper to the
desired position with a speed control (see Speed Register).
2.6.4 Speed Register
Reading: Read the value of the desired speed of the Arm or the Gripper. 0 is the slowest
and 255 the fastest.
Writing: Configure the speed to reach when a move is made with speed control.
2.6.5 Voltage Register
Read the value of the battery voltage (only Deluxe version, return 0 on LE version). This
value must be converted as following to obtain the real voltage value:
5
1024
Re
][ •= gisterVoltage VVoltage
2.6.6 Available Remaining Capacity
Return the Available Remaining Capacity in percent of the battery (only Deluxe version).
The calculation of this value is made on the voltage of the battery, so this value is not
guarantee to be exact. This is just an evaluation of the battery.