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Mounting on a robot

The gripper mounts by its coupler connector, the round part on the back of the body. The repository has three, for PAROL6, PAR6 and the UR5 flange, and a STEP template for your own.

Robot Part Where
PAROL6 coupler_connector_PAROL6.STL Gripper STL parts
PAR6 coupler_connector_PAR6.STL the same folder
UR5 UR_coupler_gripper.STEP STEPS/UR5 adapter plate
your own coupler_connector_generic_STEP.STEP, the template STEPS
The generic coupler connector template: the bolt circle of the gripper on the outside, your flange's pattern in the middle
Figure 4.1: The generic coupler connector template: the bolt circle of the gripper on the outside, your flange's pattern in the middle.

PAROL6

The PAROL6 coupler connector carries a shaft coupler with an 8 mm bore and two M4 clamp screws for the robot's last joint, and the homing tab that joint 5 homes against.

  1. Fit coupler_connector_PAROL6 to the gripper, with the homing tab on the same side as the gripper's cable connector and an M3 × 12 screw in the marked hole, as the last pages of the assembly manual show.
  2. Slide the gripper onto the J6 motor shaft.
  3. Tighten the two screws of the shaft coupler, one on each side, with blue threadlocker.
  4. Connect the PAROL6 gripper cable to the gripper and to the robot's gripper port (The cable).

The gripper on the J6 shaft The coupler screws

The PAROL6 software needs to know the gripper is there, and the control board firmware needs the joint 5 homing offset for it: On PAROL6 and PAR6.

PAR6

coupler_connector_PAR6 bolts to the PAR6 wrist; the PAR6 gripper cable, wired differently from the PAROL6 one, goes to the robot's tool connector.

Another robot

Adapt the template to your flange, or use the UR5 adapter plate as a starting point. Keep the gripper's connector reachable, and route the cable so that it cannot be pulled by the robot's motion.

On the bench

For testing, clamp the body, not the jaw plates or the rail, and leave the whole stroke free: calibration moves the jaws from one end stop to the other without any command from you.

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