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This product is a robot gripper based on the ST3215 Servo serial bus servo, with parts made of stainless steel and aluminum alloy, offering both lightness and durability, providing you with a more stable gripping experience.
The ST3215 Servo serial bus servo uses a high-precision magnetic encoder with 360° accuracy and can perform angle control within a 360° range (Note that due to the structural limitations of this product, the actual control cannot achieve a wide range of 360°). This servo can be controlled by a program and has built-in acceleration start and stop functions to make the movements smoother. Each servo has two interfaces, allowing the gripper to be connected in series with other TTL devices, and each servo can obtain information about the current angle, load, voltage, and mode, etc.
At the same time, the isolation column of the product clamp is flexible and adjustable, which can easily adapt to clamping objects of different sizes. Moreover, the gripper structure also reserves space for installing camera accessories, which can be used for secondary development by users to open visual applications.
Gripper-A gripper | |||
---|---|---|---|
Servo | ST3215 Servo | Stall torque | 30KG.CM |
Baud rate | 1Mbps | No-load speed | 0.222sec/60° (45RPM)@12V |
Position sensor resolution | 360°/4096 | ID range | 0-253 |
Stall current | 2.7A | No-load current | 180mA |
Operating Voltage | 9~12.6V | Weight | 232.4±5g |
Clamping width | 0~80mm | Size | 130*160*62 (mm) |
1. Confirm whether the operating voltage is within the specified voltage range as listed in Specifications before use.
2. Please ensure that the connections are correct and secure before use to avoid poor contact.
3. The demo we provide includes software limit settings. If you are developing it yourself, you need to pay attention to the rotation angle set for the servo to avoid conflicts between software settings and structural limitations that may cause the servo to stall and burn out.
No. | Name | Color | Type | Description |
---|---|---|---|---|
1 | Signal/TTL | White | Signal cable | Single-wire serial Port |
2 | VCC | Red | Power Positive | - |
3 | GND | Black | Power Negative | - |
We provide a simple serial port debugging routine, which is based on the serial port of the ESP32 driver board. We recommend the following driver board for matching: Bus Servo Driver HAT (A); Of course, if you already have General Driver for Robots or Servo Driver with ESP32 in hand, you can also use them.
Connect the gripper via the servo cable to the 5264-3P interface on the driver board, ensure that the switch position on the driver board is set to the ESP32 position, connect the driver board to the PC computer using a USB cable, and power the driver board (see the figure below).
Before testing, we need to flash the program for our driver board. The steps are as follows:
1. Click ESP32 download tool to download, unzip it after downloading, and double-click to open the "flash_download_tool_3.9.5.exe" program. After opening, two windows will pop up, we need to operate the UI interface of the download tool, and the other window will act as a terminal to show the working status of the download tool.
2. On the "DOWNLOAD TOOL MODE" screen, select ESP32 for Chip Type and Factory for WorkMode. (With Factory, the relative path will only be used when calling the binary, so the user does not need to manually enter the binary path, click OK after selection.)
3. Enter the download tool software interface, the right side represents the ability to upload programs to 8 drive boards simultaneously. Move the switch on the Bus Servo Driver HAT (A) driver board to the ESP32 position, connect the ESP32-USB interface on the Bus Servo Driver HAT (A) driver board to the computer with a USB cable, click on "COM", and select the newly appearing COM (the new COM here is COM27); BAUD is used to set download speed, the higher the speed, the faster. ESP32 can use up to 921600.
4. After selection, click "START" to start uploading the program. Once the upload is complete, "IDLE WAIT" will change to "FINISH COMPLETE". After completion, you can disconnect the USB connection between the driver board and the computer, connect the Gripper-A gripper, and follow the instructions below to control it.
Here introduces the use of a simple serial port debugging assistant to control the gripper:
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