https://github.com/berkeleyautomation/robottoolchanger

Tool-changer and tool for collaborative and service robots
https://github.com/berkeleyautomation/robottoolchanger

abb-robot stl stl-files tool-changer

Last synced: 2 months ago
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Tool-changer and tool for collaborative and service robots

• Host: GitHub
• URL: https://github.com/berkeleyautomation/robottoolchanger
• Owner: BerkeleyAutomation
• Created: 2018-08-07T23:01:09.000Z (almost 7 years ago)
• Default Branch: master
• Last Pushed: 2018-09-27T20:08:12.000Z (over 6 years ago)
• Last Synced: 2025-01-25T21:26:31.221Z (4 months ago)
• Topics: abb-robot, stl, stl-files, tool-changer
• Homepage:
• Size: 153 MB
• Stars: 4
• Watchers: 10
• Forks: 1
• Open Issues: 0
• Metadata Files:
  • Readme: README.md

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README

        
# Tool-changer and tools for collaborative and service robots

This repo include the design and software needed to create a tool-changer for collaborative and service robots.\

The repo also include several tools that can be created and used with or without the tool-changer.

The [tool-changer](https://github.com/BerkeleyAutomation/RobotToolChanger/tree/tool-changer) is described in branch `tool-changer`, 

which include the three main components of the tool-changer: robot-component, tool-component, and tool-housing.

The tool-changer was originally designed to be used with ABB YUMI collaborative robot.\

With minor adjustments the tool-changer design can be retrofit to most mobile and stationary robots.\

The project includes the design, manufacturing, programming, and evaluation of a tool-changer for robots.\

To examine the design we evaluated the tool-changer on ABB YuMi, a two-arm stationary robot.

![yumiwithtools2](https://user-images.githubusercontent.com/25335836/45905394-0ff88980-bda5-11e8-9efd-d0f7ab4f56cf.png)

## Getting Started

The tool-changer and the different tools are organized in separate branches.\

To get started with the tool-changer, open the `tool-changer` branch and follow instructions.\

To manufacture a tool, open the tool branch and follow the design instructions and supplementary material (software, electrical drawings, etc.).       

## Adding new tool

To add new tool the developer will work on branch `new-tool`, and ask the contributors to do `pull-request`. 

## Authors

**Ron Berenstein** - [website](http://ronberenstein.com/index.html)

See also the list of [contributors](https://github.com/BerkeleyAutomation/RobotToolChanger/graphs/contributors) who participated in this project.

## Acknowledgments

* [CITRIS invention lab](https://invent.citris-uc.org/)

* Jacob Gallego from UC Berkeley machine shop