Force Sensing Mantis Gripper

Force sensing for the mantis gripper, with ROS integration and adaptor for the UR5

The Mantis Gripper

This project takes the gripper for Andreas Hölldorfer's gripper for his Mantis robot arm and adds force sensing and ROS integration. It also contains a URDF model, collision meshes, and visual meshes for integration with ROS MoveIt!

The information on the gripper can be found at: http://chaozlabs.blogspot.co.uk/2016/04/mantis-robot-arm-part-1-gripper.html

The parts for the gripper can be downloaded from thingiverse: https://www.thingiverse.com/thing:1480408

Outstanding issues

• The servo motor can still overhead if left gripping an object too long. This is particularly a problem if you print the gripper parts in PLA
• Ideally it would put on a custom PCB or use an existing smart servo controller.

License

Except for files based on the Mantis Gripper which are creative commons, this project is distributed under the MIT License.

Files

• CAD - 3D files for the parts, created with Freecad 0.16
• Electronics - Description of the electronics used for the controller.
• src - source code for the project
• src/Firmware - Code to be run on the Arduino.
• src/ROS - ROS node to talk to the gripper.
• media - Pictures of the build.