GAL2 2-Finger Angular Gripper
The GAL2 2-Finger Angular Lead-Screw Gripper is an electric 2-finger linear gripper with PapillArray Tactile Sensor Array integrated into each of the two gripper fingertips. The PapillArray Tactile Sensor Arrays measure tactile data that is used for real-time closed-loop feedback control of the grip force applied by the gripper. The gripper autonomously and dynamically applies the optimal grip force, calculated in real-time, to prevent translational slip of the grasped object, based on the measured coefficient of static friction between the sensors and the grasped object and the measured shear force acting on the sensors.
Overview
The GAL2 2-Finger Angular Lead-Screw Gripper is an electric 2-finger linear gripper with PapillArray Tactile Sensor Array integrated into each of the two gripper fingertips. The PapillArray Tactile Sensor Arrays measure tactile data that is used for real-time closed-loop feedback control of the grip force applied by the gripper. The gripper autonomously and dynamically applies the optimal grip force, calculated in real-time, to prevent translational slip of the grasped object, based on the measured coefficient of static friction between the sensors and the grasped object and the measured shear force acting on the sensors.
The GAL2 2-Finger Angular Lead-Screw Gripper can be operated in 3 gripping modes:
▪️ Position control - The gripper finger target position is specified by the operator. The gripper fingers will move to the commanded target position.
▪️ Fixed force-controlled grip - The target grip force at the fingertips (i.e., the grip force to be exerted on the PapillArray Tactile Sensors) is specified by the operator.
▪️ Dynamic force-controlled grip - The target grip force at the fingertips is determined in real-time autonomously by the PapillArray Tactile Sensors – calculated from the measured shear forces and frictions.
The Gripper communications interface allows the user to send commands to the gripper to bias the PapillArray Tactile Sensor arrays, to retrieve gripper-specific data, and the set parameters for gripping, and of course initiating movements and gripping in various grip modes.
Specifications
How does it work?
The GAL2 2-Finger Angular Lead-Screw Gripper (Beta v1.1) is an electric 2-finger linear gripper with PapillArray Tactile Sensor Array integrated into each of the two gripper fingertips. The PapillArray Tactile Sensor Arrays measure tactile data that is used for real-time closed-loop feedback control of the grip force applied by the gripper. The gripper autonomously and dynamically applies the optimal grip force, calculated in real-time, to prevent translational slip of the grasped object, based on the measured coefficient of static friction between the sensors and the grasped object and the measured shear force acting on the sensors.
Simply mount the gripper to a Universal Robots arm using the supplied mounting adaptor, connect the gripper to the tool I/O port using the supplied M8 cable and install the supplied URCap, and you are ready to grip any item applying the optimal grip force with just one command!
Does it have a URCap?:
Yes
License:
One-time purchase, Free URCap software, Free URCap updates
Minimum Software versions:
Polyscope 5.11 and up is required to use the latest URCap plugin.
Dimensions :
Height (m): 0.4
Width (m): 0.2
Length (m): 0.12
Weight (kg): 2.85
Features
- Dimensions: 110.1-282.7 (W) x 76.0 (L) x 160.7-217.2 (H) mm
- Stroke: 175 mm
- Grip force (programmable): 1.5 to 30 N
- Form-fit grip payload: 2 kg
- Friction grip payload: 2 kg (assuming coefficient of static friction of 0.33)
- Gripper mass: 785 g
- Position sensing resolution (fingertip): 2.1 µm
- Position repeatability (fingertip): ±0.2 mm
- Closing speed (programmable): 5 to 335 mm/s
- Communication protocol: Serial (RS-485), Serial (USB)
Compatibility
- UR3
- UR3e
- UR5
- UR5e
- UR10
- UR10e
- UR16e
Availability
- Argentina
- Australia
- Austria
- Bangladesh
- Belgium
- Brazil
- Bulgarian
- Canada
- Chile
- China Mainland
- Colombia
- Croatia
- Czech Republic
- Denmark
- Estonia
- Finland
- France
- Georgia
- Germany
- Greece
- Hong Kong
- Hungary
- Iceland
- India
- Indonesia
- Ireland
- Italy
- Japan
- Latvia
- Lithuania
- Luxembourg
- Macau
- Malaysia
- Malta
- Mexico
- Netherlands
- New Zealand
- Norway
- Oman
- Peru
- Philippines
- Poland
- Portugal
- Qatar
- Romania
- Saudi Arabia
- Singapore
- Slovakia
- Slovenia
- South Korea
- Spain
- Sri Lanka
- Sweden
- Switzerland
- Taiwan
- Thailand
- Turkey
- United Arab Emirates
- United Kingdom
- United States
- Vietnam
What's in the box?
- 1x GAL2 2-Finger Angular Lead-Screw Gripper
- 2x PapillArray Tactile Sensors (integrated on the fingertips of the gripper)
- 1x Gripper Mounting Adaptor and Screws (for ISO 9409-1-50-6-M6, ISO 9409-1-40-6-M6 or ISO 9409-1-31,5-4-M5 compatible flange) - compatible with UR 3, 3e, 5, 5e, 10, 10e, 16e
- 1x Gripper Power Pack
- 1x M8 Cable
- 1x USB-C cable – 1 m length
- 1x Contactile USB flash drive (incl. URCap, Visualisation Executable, C++ Library, Python Library, ROS & ROS2 Package, Manuals, 3D models)
