You can model a parallel gripper in RoboDK by using the Model Mechanism or Robot tool. Parallel grippers are also called 2-finger grippers and allow a robot to grab parts.

Video: How to build a 2-finger gripper: https://www.youtube.com/watch?v=kK4PRTjOZ48.

Follow these steps to set up your 3D model in RoboDK:

1.Import your 3D model: Drag and drop your STEP file to load it into your station (IGES or STL files will also work).

2.Open the mechanism builder: Utilities ➔Model Mechanism or Robot.

3.Select 2 Finger Gripper under “Robot Type”.

4.You can rename your robot “Gripper”.

General - Image 61

Follow these steps to position your base frame:

5.Create a reference frame (it should be below the gripper), and rename it as Frame Base.

6.Make sure that the frame you just created is positioned according to the image: Bring the reference frame to 0.000 mm (X,Y,Z).

General - Image 62

Note: You can simplify things by positioning your gripper fingers at their home position (0 mm). If you want the zero position to be the gripper closed, move the fingers to the middle until they touch.

7.Enter the gripper range of motion: If you put the fingers at the 0 position, the minimum limit will be 0 and the maximum limit will be 80.

8.Select Update.

9.Make sure it moves in the right direction and that the limits are good by using the Joint Axis Jog.

10.If you are fine with the results, you can press Ok.

How to model a two-finger parallel gripper