To control the Brooks PreciseFlex grippers from a simulation, including the dual gripper, follow the steps outlined in this section.

1.Right-click your program, and add aProgram Call Instruction.

2.Enter “Gripper(gripper ID, gripper value)”。例如,爪(50)把钳子#2 of a dual gripper to 50 mm. Note that you can use Gripper(50) with a single gripper.

3.Add a Python script, rename it to “Gripper”.

4.Edit the “Gripper” Python script and paste the following:

from robodk import robolink

import sys

if len(sys.argv) < 2:

quit()

gripper_id = -1

gripper_value = int(sys.argv[1])

if len(sys.argv) > 2:

# Dual gripper

gripper_id = int(sys.argv[1])

gripper_value = float(sys.argv[2])

RDK = robolink.Robolink()

# Retrieve all available Brooks grippers

grippers = [x for x in RDK.ItemList(robolink.ITEM_TYPE_ROBOT_AXES) if len(x.Joints().tolist()) == 1 and 'Brooks' in x.Name()]

if not grippers:

RDK.ShowMessage('Unable to find a gripper!', False)

# Try to find the right gripper id (i.e. Dual Gripper 1)

gripper = grippers[0]

if gripper_id > 0:

gripper_ids = [g for g in grippers if g.Name().endswith(str(gripper_id))]

if gripper_ids:

gripper = gripper_ids[0]

gripper.MoveJ([gripper_value])

Note that this method is also compatible with the Brooks post processor.

Gripper simulation