Array Gripper

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At present, the array gripper mode only supports multiple end tools that are arranged in a single row.

Matching Condition

Array Gripper Matching Strategy

When “CheckPositionOnly” is selected, you can only adjust “Dist Threshold”. When CheckPositionAndOrientation” is selected, you can adjust both “Dist Threshold” and “Angle Threshold”.

Dist Threshold

Description

The pick point will be within a circle with the object pose as the center and the set Dist Threshold as the radius.
Examples

  1. When the Dist Threshold is set to 30 mm, the possible areas for picking are shown in the figure below.

    check position

  2. An array gripper with 3 end tools that are 100 mm away from each other is shown in the figure below.

    tool position

  3. In the path planning, the software will find a position where all three TCPs fit in the possible areas for picking (the blue circles as shown below).

    picking position

    If three TCPs cannot be matched with the possible areas for picking at the same time, the software will try to match two TCPs instead.

Angle Threshold

Description

The angle between the X-axis of the TCP and the X-axis of each workobject pose.
Examples

  1. The TCP will be rotated 180° around its own X-axis and its Z-axis will be upward and parallel with that of the pick point.

    rotate tcp pose

  2. Calculate the angle between the X-axis of the TCP and the X-axis of each pick point. If the angle between the pick point and the TCP is within the Angle Threshold, the pick point will be used for picking, or else it will be discarded.

    judge angle

    In the Array gripper mode, it is acceptable that the object in the middle of a combination is missed as long as the combination is not rotationally symmetric. For example, the array gripper has 4 ends, and the ends are numbered 0, 1, 2, and 3. If there are 3 objects to be picked whose position can be represented by OOXO (X for empty space), the 0, 1, and 3 ends need to be started. After being rotated 180°, the combination changes from OOXO to OXOO, which is not symmetric.

Count of Picked Workobjects

Limit Total Count

Limit the number of total picked objects.
Planned Count

The maximum number of total picked objects.
Total Count of Picked

The number of objects that have been already picked.
Count of Picked This Time

The number of objects picked this time.
Set Count Each Time

Specify the number of objects to be picked at a time.
Limit Count Each Time

Specify the maximum number of objects to be picked at a time. The maximum number of objects or fewer objects can be picked at a time.

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