Introduction

This manual describes the use and function of the Shadow Modular Grasper

Abbreviations

Abbreviation Meaning
API Application Programming Interface
DoF Degrees of Freedom
EC EtherCAT
EEPROM Electrically Erasable Programmable Read Only Memory.
GUI Graphical User Interface.
LED Light Emitting Diode. (A small coloured light)
MCU Micro Controller Unit. (A small, usually embedded, CPU)
PC Personal Computer.
PWM Pulse Width Modulation. (The digital method used to emulate an analogue signal.)
ROS Robot Operating System.

Modular Grasper Technical Spec

The Shadow Modular Grasper is an advanced solution for grasping and handling a wide range of objects.

  • 9 Degrees of Freedom (DoF) Technical Specification 1
  • 3 Fingers
  • 3 Joints per Finger
    • Base rotation, -45° to +45°
    • Proximal, -80° to +60°
    • Distal, -60° to +80°
  • Maxon DC Motors
  • Backdrivable Gearbox
  • Non-slip surfaces for Grasp Stability
  • 2.7 kg weight
  • 2 kg Payload (using power grasp)
  • 20 N intermittent force per fingertip, 10 N continuous
  • 260 mm maximum span
  • 1 kHz Position Control Loop , with 0.02° position sensing resolution
  • 1.39 mNm resolution direct Torque sensing at each joint
  • 10 kHz onboard Torque Control Loop Technical Specification 2
  • 0.5 second full range open/close speed
  • ROS Compliant (Robot Operating System www.ros.org)
  • EtherCAT® interface
  • 24V DC, 150W power envelope
  • Safety Systems:
    • Over temperature protection
    • Inherent compliance via Series Elastic Actuator
    • Patented chain configuration protects internal drive train
  • Mounting plate to attach to standard robot arms
  • Grasping Library with open APIs (Python/ROS/REST)
  • Bespoke fingertips can easily be redesigned to accommodate different environments
  • OptoForce tactile sensing in fingertips (option)

Technical Specification 3