UBIROS GENTLE DUO MINI User manual
GENTLE DUO MINI
USER MANUAL
October 2020
UbirosInc
ubiros_inc
@UBIROS1
Congratulations on your purchase of Gentle Duo: A patent pending, mechanically
intelligent robotic hand that automatically conforms around a large range of object sizes
and shapes to pick them up, gently. Gentle Duo is the first electrically actuated soft robotic
gripper and it offers individual finger actuation!
Contact Us
UBIROS INC
251 W Central St. Ste. #35
Natick MA 01760
(508) 810-0164
ubiros.com
Your product ID:
GNT ______-______________
It can also be found on your gripper, please record and refer to it when contacting us.
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TABLE OF CONTENTS
TECHNICAL SPECIFICATIONS .......................................................................................................... 4
MOUNTING ......................................................................................................................................... 5
Mounting steps ................................................................................................................................. 5
ELECTRICAL CONNECTION .............................................................................................................. 6
Universal Robots e-Series ................................................................................................................ 6
Universal Robots CB-series.............................................................................................................. 6
KUKA IIVA ........................................................................................................................................ 6
Yaskawa Motoman HC10 w/YRC1000micro controller...................................................................... 6
OPERATION........................................................................................................................................ 6
Universal Robots e- and CB-Series .................................................................................................. 6
KUKA IIVA ........................................................................................................................................ 7
Yaskawa Motoman HC10 w/YRC1000micro controller...................................................................... 7
GRIPPER SETUP................................................................................................................................ 7
URCAP USAGE................................................................................................................................... 8
URCap Feature Overview & Compatibility ........................................................................................ 8
Universal Robots e-Series ................................................................................................................ 8
Installation .................................................................................................................................... 8
Uninstallation .................................................................................................................................... 8
Tool Center Point (TCP) Configuration.......................................................................................... 8
Gripper Configuration Node .......................................................................................................... 8
Gripper Actuation in Program........................................................................................................ 9
Toolbar (e-Series only).................................................................................................................. 9
Universal Robots CB-Series ........................................................................................................... 10
Installation .................................................................................................................................. 10
Uninstallation .............................................................................................................................. 10
TCP Configuration ...................................................................................................................... 10
Gripper Actuation in Program...................................................................................................... 10
Gripper Configuration Node .........................................................................................................11
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TECHNICAL SPECIFICATIONS
Gripper Dimensions
(diameter, height)
100 / 172 mm (3.9 / 6.8 in)
Enclosure Dimensions
(diameter, height)
100 / 84 mm (3.9 / 3.3 in)
Finger dimensions
(Length / Width / Depth)
75 / 20 / 40 mm (3.0 / 0.8 / 1.6 in)
Number of fingers
2
Max finger opening (tip)
175 mm (6.9 in)
Finger distance (base)
28 mm (1.1 in)
Weight
800 g (1.8 lbs)
Payload
1,500 g (3.3 lbs)
Grasping time
100 ms / 50 mm (100 ms / 2 in)
Maximum cycle
500,000
Input Voltage
15 V - 25 V
Max. Current
(idle / load / instantaneous)
0.03 A / 2 A / 3 A
Control Interface
1 or 2* Digital Inputs
Part Confirmation
Digital Output*, Adjustable Threshold
Finger material
Silicone, FDA Approved**
Enclosure material
Anodized Aluminum
Flange
ISO 31.5-63
Individual finger actuation
Enabled**
Water Proofing
Sealed, Not certified
*Touch model only
** Available upon request
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MOUNTING
Your package includes a universal mechanical adapter to mount Gentle Duo Mini on your robotic arm.
It allows Gentle Duo Mini to be mounted on all ISO flanges between 31.5 mm and 63 mm. See the
dimensions of the universal mounting plate below (Figure 1).
Mounting steps
1. Attach the universal mounting adapter to your robot’s tool flange using 4 screws (provided)
2. Insert UBIROS Gentle Duo Mini inside the Universal Mounting Plate
3. Put the provided M3 screws through the holes on the side wall and tighten gently
Figure 1 Universal mounting adapter
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ELECTRICAL CONNECTION
Gentle Duo Mini requires 24V power and takes in a digital input signal of up to 24V to open and close
the fingers to predefined positions. Please note Gentle Duo Mini’s digital input requires at least 13V to
turn HIGH. For the full list of specifications, see page 4.
Universal Robots e-Series
1. Connect the short cable to the connector at the wrist
2. Turn Tool Output 1 power to 24V (sourcing) using the teach pendant
Universal Robots CB-series
Provided connection cable comprises 3 flying leads:
1. Attach the flying leads in appropriate pins in the control box as follows:
a. The RED lead to any 0V pin
b. The GREY lead to any 24V pin
c. The PINK lead to a DO pin
KUKA IIVA
Flanges: media flange IO pneumatic (X11-X12), media flange IO electrical (X41, 42), media flange IO
valve pneumatic (X91, X92)
1. Connect the short cable to one of the 8-pin connectors at the wrist
2. Turn on the power (24V)
Yaskawa Motoman HC10 w/YRC1000micro controller
1. Provide a separate 24VDC power supply for connection through the “S” connector at the base
of the robot and through to connector S-2 (0.3mm2 pins 9 – 16) at the wrist exit. Two of the wires
will supply Gentle Duo Mini with power from the auxiliary power supply. The PINK Gentle Duo
Mini lead is signal where +24V is gripper open and 0V is gripper closed. Select a third wire from
S-2 for the signal that will pass through the S connector at the base.
2. Apply a low current coil relay similar to the Releco C10-A10X (Coil draws 32mA @ 24VDC) to
the din rail with the CN4 breakout board. Pass the +24V from the aux power supply through the
normally open contact and out to the robot wrist via the third wire selected (in step 1) passing to
the wire in the S-2 connector. That will be used as the digital input to Gentle Duo Mini as follows:
a. Attach to one side of the relay coil a digital output pin on the CN4 (OUT 5 is pin #16) This
is an NPN output so if the coil is polarity sensitive connect it to the negative.
b. Attach a +24V for Output Load terminal to the other side of the coil (Pin 15 on the CN4
is one such pin)
OPERATION
Universal Robots e- and CB-Series
Download UBIROS Gentle URCap from https://www.ubiros.com/urcap.html for easy operation. Refer to
the URCap manual at the end of this manual to learn more about its usage. You can also use the SET
function to set the Tool Output 1 (TO1) or the appropriate Digital Output (DOx) to 1 (HIGH - Open) or 0
(LOW - Close) to operate. Refer to the URCap manual at the end of this manual to learn more about its
usage.
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KUKA IIVA
Flanges: media flange IO pneumatic (X11-X12), media flange IO electrical (X41, 42), media flange IO
valve pneumatic (X91, X92)
If you plugged your cable in X11, X41, or X91, set MF_Output_0 to 1 (HIGH - Open) or 0 (LOW - Close)
to operate, otherwise Set MF_Output_2 appropriately.
Yaskawa Motoman HC10 w/YRC1000micro controller
Just add a DigitalOut command in your program to open or close the UBIROS. In the wiring example
from earlier in this document it would be a DigitalOut #5 ON (see Figure 2) to open it and a DigitalOut
#5 OFF to close it, be sure to add a timer to allow the gripper time to open or close before your next
action.
Move to the drop position
Open the UBIROS gripper
Wait for the gripper to finish opening
On the DT versions of the HC10 you can also tie the wrist button 2 to the output you are using and in
hand jogging mode that button will toggle the gripper open/closed.
GRIPPER SETUP
Gentle Duo Mini is pre-programmed to host its own WiFi Access Point. You can adjust Gentle Duo Mini’s
settings by following the steps below:
1. Connect any WiFi-enabled device to the WiFi network
named “Ubiros-<Product ID>”. (Please note that this
network is not connected to the Internet)
2. Enter the WiFi password: GentleUbiros
3. After the connection is established, open any web browser
and go to: http://192.168.4.1/ to access the control panel.
4. Using the sliders on the page adjust the finger stroke to the
best level for your application. 0 indicates straight fingers.
Positive numbers move fingers towards the palm. Click “Go
and Gentle will show the new position.
5. Enter the current threshold for part confirmation signal.
6. Click “Save Values” to make positions permanent (will
survive a power cycle). When fingers are misaligned use
offset buttons to fix.
7. Enter the current threshold for part confirmation signal.
8. Click “Save Values” to makes positions permanent (will
survive a power cycle).
9. When fingers are misaligned, use calibration buttons to fix.
Figure 2 Sample Code for Yaskawa HC10
Figure 3 Gentle Duo Mini Control Panel
WARNING: setting these sliders above 7 and gripping
large objects may cause damage to the gripper
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URCAP USAGE
URCap Feature Overview & Compatibility
Our URCap adds a tool center point installation node, a gripper configuration installation node, a gripper
actuation program node and a toolbar for actuating the gripper outside of program execution (e-Series
only). Available for PolyScope 5.2+ (e-Series) and PolyScope 3.8+ (CB-series).
Universal Robots e-Series
Installation
Copy the URCap downloaded from https://www.ubiros.com/urcap.html to a blank USB drive. Insert the
USB drive into the teach pendant or controller. Press the hamburger menu button in the top right (Figure
4) and choose “Settings → System → URCaps → +” (Figure 5). Navigate the available drives to find
and select the .urcap file. Restart PolyScope to finish installation. To add a TCP configuration, see the
TCP Configuration section.
Uninstallation
To uninstall this URCap, navigate back to the screen shown in Figure 5, select the URCap and press
the “-“ button.
Tool Center Point (TCP) Configuration
To install the Tool Center Point (TCP), choose your
Gentle product from the dropdown menu found at
“Installation → URCaps → Gentle TCP
Configuration” (Figure 6) and press the “Add TCP”
button. To change TCP values, select the text field,
enter a new value and press the “Save Changes”
button.
To activate this configuration, navigate to
“Installation → TCP”, select the added
configuration from the dropdown menu and set it
as default (Figure 8).
Gripper Configuration Node
Confirm that the pink wire is connected to the an output port or confirm wrist connection for e-series.
This node is available at “Installation → URCaps → Gentle Gripper”. Select the output port connected
to the gripper from the dropdown menu (Figure 7).
Figure 5 Installation, e-Series
Figure 4 Settings, e-Series
Figure 6 TCP Configuration, e-Series
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The button below the dropdown menu will set the output to true (releasing) or false (gripping). If the
button displays “Initialize” and/or “Start”, click on the button and it will attempt to access the digital IO.
The button and dropdown disable themselves if the attempt fails.
Gripper Actuation in Program
To add the gripper actuation node, go to “Program → URCaps” and select “Gentle Open or Close”.
Select the “Gentle Open or Close” item from the program structure and switch to the “Command” tab.
On the gripper actuation node screen, select either “Open” to open the gripper, or “Close” to close the
gripper. Alternatively, you can use the SET function to set the gripper’s digital or tool output to 1 (HIGH
- Open) or 0 (LOW - Close) to operate the gripper if you choose not to use the actuation program node.
Toolbar (e-Series only)
To use the toolbar, select the UR+ icon and
the UBIROS - Gentle logo in the toolbar
(Figure 10). Pressing the button will toggle
the gripper between an opened and closed
state. If the button displays “Release” it is in
a gripping state and vice versa. If “Initialize”
and/or “Start” are displayed, select the button
to attempt IO access.
Figure 8 PolyScope TCP Window, e-Series
Figure 7 Gripper Configuration, e-Series
Figure 9 Gripper Actuation in Program, e-Series
Figure 10 Toolbar, e-Series
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Universal Robots CB-Series
Installation
Copy the URCap downloaded from
https://www.ubiros.com/urcap.html to a blank
USB drive. Insert the USB drive into the
teach pendant or controller.
Select “Setup Robot” on the main screen and
choose “URCaps → +” (Figure 11). Navigate
the available drives to find and select
the .urcap file.
Restart PolyScope to finish installation. To
add a TCP configuration, see the TCP
Configuration section.
Uninstallation
To uninstall this URCap, navigate back to the
screen shown in Figure 11 for e-Series,
select the URCap and press the “-“ button.
TCP Configuration
The window in Figure 12 is available at
“Program Robot → Installation → Gentle
TCP Configuration”.
To install the tool center point, choose your
Gentle product from the dropdown menu and
press the “Add TCP” button. To change the
TCP values, select the text field, enter the
new value and press the “Save Changes”
button.
The “Remove TCP” button will remove the
displayed configuration, and the “Restore
Default” button will restore the default tool
center point settings.
To set the added TCP configuration as active,
navigate to “Program Robot → Installation →
TCP Configuration”, select the added
configuration from the dropdown menu and
set it as default.
Gripper Actuation in Program
To add the gripper actuation node, go to “Program Robot → Program → Structure → URCaps” and
select “Gentle Open or Close” (Figure 13).
Select the “Gentle Open or Close” item from the program structure and switch to the “Command” tab
(Figure 14). On the gripper actuation node screen, select either “Open” to open the gripper, or “Close”
to close the gripper. Alternatively, you can use the SET function to set the gripper’s digital output to 1
(HIGH - Open) or 0 (LOW - Close) to operate the gripper if you choose not to use the actuation program
node.
Figure 11 URCap Installation, CB-Series
Figure 12 Gentle TCP Configuration, CB-Series
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Gripper Configuration Node
Confirm that the pink wire is connected to
the correct output port.
This node in Figure 15 is available at
“Installation → Gentle Gripper”. Select the
output port connected to the gripper from
the dropdown menu. Tool outputs are not
available on CB series.
The button below the dropdown menu will
set the output to true (releasing) or false
(gripping). If the button displays “Initialize”
and/or “Start”, click on the button and it will
attempt to access the digital IO. The button
and dropdown disable themselves if the
attempt fails.
Figure 13 Add Program Node, CB-Series
Figure 14 Gripper Actuation Node, CB-Series
Figure 15 Gripper Configuration Node, CB-Series
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