Generic Vacuum Gripper

A parametric robot gripper with a configurable grid of suction cups. The vacuum gripper can grip multiple physics objects simultaneously when configured with multiple suction cups. The vacuum gripper can snap to a robot flange and automatically configures itself as the robot's TCP.

Properties

• Rows: The number of suction cup rows.
• Columns: The number of suction cup columns.
• Range: The maximum gripping distance below the suction cups.
• State: Whether the vacuum gripper is enabled.
• Cup Diameter: The diameter of each suction cup.
• Cup Spacing: The horizontal and vertical spacing between adjacent suction cups.
• Cup Extension Scale: The extension of each suction cup relative to its diameter.
• Frame Depth: The depth of the gripper frame.
• Frame Thickness: The thickness of the frame around the suction cups.
• Frame Padding: The distance between the suction cups and the edge of the frame.
• Cover Depth: The depth of the gripper cover.
• Connector Rotation: The orientation of the robot tool connector.
• Connector Offset: The position of the robot tool connector relative to the gripper.

IO

The component has the following IO:

• State: (Input) Whether the vacuum generator is enabled, allowing objects to be gripped.