EZGripper Robotic Gripper Robot Mounting Guidesakerobotics.com/wp-content/uploads/2017/05/EZGripper-Gen2-Robo… · EZGripper Quick Start – v0.01 June 2016 Page 1 EZGripper Robotic

EZGripper Quick Start – v0.01 June 2016 Page 1

EZGripper Robotic Gripper

Robot Mounting Guide

EZGripper Gen2 Mounting Plate

Compatible with Gen1 and Gen2 EZGripper robotic grippers.


Contents List of Figures ................................................................................................................................................ 2

Overview ....................................................................................................................................................... 4

Simple Mounting Instructions ....................................................................................................................... 5

Mounting EZGripper Gen2 Mounting Plate and Grippers ............................................................................ 6

Mounting Patterns ...................................................................................................................................... 14

ISO-9409-1 Mounting Pattern 40mm and 50mm ....................................................................................... 15

Robotis Mounting Pattern .......................................................................................................................... 16

ISO-9409-1 Mounting Pattern ..................................................................................................................... 17

Baxter Mounting Pattern ............................................................................................................................ 18

Robotis Mounting Pattern .......................................................................................................................... 20

Barrett WAM Mounting Pattern ................................................................................................................. 21

List of Figures

Figure 1: EZGripper Mounting Plates: Gen2 plate on left, Gen 1 plate on right. Both fit Gen1 or Gen2

grippers. ........................................................................................................................................................ 5

Figure 3: EZGripper Gen2 robot mount with clevis pins ............................................................................... 6

Figure 4: EZGripper Gen2 Dual gripper with mount, clevis pins and lock rings ............................................ 6

Figure 5: EZGripper Dual attached to mount with clevis pins inserted ........................................................ 7

Figure 6: EZGripper Dual with mount and locking rings in clevis pins .......................................................... 7

Figure 7: EZGripper “Universal” Mounting Plate .......................................................................................... 8

Figure 8: EZGripper Dual with mounting plate, two clevis pins and two locking pins .................................. 8

Figure 9: Insert pins through mount and EZGripper mounting holes and secure with locking pin. ............. 9

Figure 10: EZGripper Quad with mounting plate and 4 clevis pins and locking pins .................................. 10

Figure 11: Back view of EZGripper Quad and mounting hardware ............................................................ 11

Figure 12: EZGripper Quad with mounting plate slid into place................................................................. 12

Figure 13: EZGripper Quad with mounting plate and clevis pins inserted ................................................. 13

Figure 14: EZ Gripper robotic gripper with attached robot mounting plate with clevis pins and locking

pins .............................................................................................................................................................. 13

Figure 15: ISO-9409-1 40mm and 50mm UR3, UR5, UR10, Fetch, KUKA, Rethink Robotis ........................ 15

Figure 16: Robotis Mounting Pattern ......................................................................................................... 16

Figure 10: ISO-9409-1 UR3, UR5, UR10, Fetch, KUKA ................................................................................. 17

Figure 11 Baxter Mounting Pattern for EZGripper Dual Robotic Grippers ................................................. 18

Figure 12: Baxter Mounting Pattern for EZGripper Quad Robotic Grippers ............................................... 18

Figure 13: EZGripper mount with hole milled for Baxter plug - available from either orientation of the

mount. This is optional and can be requested from SAKE Robotics .......................................................... 19

Figure 14: Robotis Mounting Pattern ......................................................................................................... 20

https://d.docs.live.net/293c8eafda2f4c39/Paul/Documents/Sake%20Robotics/Marketing/Collateral%20and%20Documentation/SAKE%20Hand%20gen2%20Documentation/EZGripper%20Gen2%20Robotic%20Grippers%20-%20Mounting%20to%20Robot.docx#_Toc481482878

https://d.docs.live.net/293c8eafda2f4c39/Paul/Documents/Sake%20Robotics/Marketing/Collateral%20and%20Documentation/SAKE%20Hand%20gen2%20Documentation/EZGripper%20Gen2%20Robotic%20Grippers%20-%20Mounting%20to%20Robot.docx#_Toc481482878


Figure 15: Barrett WAM Mounting Patter .................................................................................................. 21


This guide shows how to physically attach the EZGripper robotic grippers to robots, but does not discuss

the electrical connections or control of the gripper.

Overview The EZGripper “Universal” robot mount provides a physical mount between the EZGripper Dual and

Quad robotic grippers and a variety of robotic arms. There are two versions of the mounting plate,

Gen1 and Gen2. Both versions fit all SAKE Robotic grippers, but they have slightly different mounting

hole patterns to support various robots.

Gen2 “Universal Mount” Gen1 “Universal Mount”

ISO 9409-1 50mm (UR3, UR5, UR10, Fetch, KUKA, …)

Yes Yes

ISO 9409-1 40mm (Sawyer) Yes No

Robotis Manipulator Yes Yes

Native Baxter No Yes

Barrett WAM No Yes

Robots Supported: (Contact customer support if you have different requirements)

- ISO standard 9409-1 medium robotic mount plate

o 40mm and 50mm diameters

- Robots

o Universal Robotics: UR3, UR5, UR10

o Fetch Robotics: Fetch

o Rethink Robotics: Sawyer

o KUKA: LBR iiwa

- Robotis

o Manipulator series robotic arms

o Dynamixel Pro servo interface

The EZGripper robot mounting plate is simple, yet industrial duty and includes the Fast Connect system.

The Fast Connect system uses two or four clevis pins (two for duals, four for quads)12 to hold the

EZGripper robotic gripper to the robot wrist. This is reliable and fast.

The EZGripper robot mount can attach to either an EZGripper Gen2 Dual or EZGripper Gen1 Dual or

EZGripper Gen1 Quad gripper. In all cases, the grippers are center aligned onto the mount. This means

that for most robots, the grippers will rotate around the center of the wrist.

1 2 Screws can be instead of hitch pins.


The EZGripper robotic gripper mount is composed of ~4mm thick 5051 aluminum for high strength and

stiffness.

Simple Mounting Instructions 1) Mount EZGripper mounting plate onto Robot with bolts (not shown in these instructions)

2) Plug the Robotis servo cable into EZGripper servo connector

3) Mount the EZGripper robotic gripper onto the mounting plate using clevis pins

Figure 1: EZGripper Mounting Plates: Gen2 plate on left, Gen 1 plate on right. Both fit Gen1 or Gen2 grippers.


Mounting EZGripper Gen2 Mounting Plate and Grippers

Figure 2: EZGripper Gen2 robot mount with clevis pins

Figure 3: EZGripper Gen2 Dual gripper with mount, clevis pins and lock rings


Figure 4: EZGripper Dual attached to mount with clevis pins inserted

Figure 5: EZGripper Dual with mount and locking rings in clevis pins


Figure 6: EZGripper “Universal” Mounting Plate

Figure 7: EZGripper Dual with mounting plate, two clevis pins and two locking pins


Figure 8: Insert pins through mount and EZGripper mounting holes and secure with locking pin.


Figure 9: EZGripper Quad with mounting plate and 4 clevis pins and locking pins


Figure 10: Back view of EZGripper Quad and mounting hardware


Figure 11: EZGripper Quad with mounting plate slid into place


Figure 12: EZGripper Quad with mounting plate and clevis pins inserted

Figure 13: EZ Gripper robotic gripper with attached robot mounting plate with clevis pins and locking pins


The clevis pins are longer than necessary in the EZGripper Quad robot gripper configuration. This causes

slack that allows the clevis pins to slide back and forth. This has no effect on the strength or rigidity of

the installation. The slack can be removed by using additional spacers. Generally, the slack can be

ignored.

Mounting Patterns The EZGripper mounting plate supports many different robots by including a variety of hole patterns in

the “Universal” mounting plate.

All mounting holes, except for the Baxter, are symmetric around the center point of the gripper mount.

The center point is defined as the center of rotation for the grippers – either Dual or Quad.


ISO-9409-1 Mounting Pattern 40mm and 50mm Mounting Bolts

Quantity 4

M6X10 Low Head Socket Cap Screw Steel 8.8 DIN7984 (preferred)

M6X10 Button Head Socket Cap Screw Steel 10.9 ISO7380

Note: The full height M6 socket screws will hit interfere with the gripper mounting.

Figure 14: ISO-9409-1 40mm and 50mm UR3, UR5, UR10, Fetch, KUKA, Rethink Robotis


Robotis Mounting Pattern Mounting Bolts

Quantity 8



Figure 15: Robotis Mounting Pattern


ISO-9409-1 Mounting Pattern Mounting Bolts

Quantity 4



Note: The full height M6 socket screws will hit interfere with the gripper mounting.

Figure 16: ISO-9409-1 UR3, UR5, UR10, Fetch, KUKA


Baxter Mounting Pattern Mounting Bolts

Quantity 4



Figure 17 Baxter Mounting Pattern for EZGripper Dual Robotic Grippers

Figure 18: Baxter Mounting Pattern for EZGripper Quad Robotic Grippers

The mounting position of the EZGrippers on the Baxter do not block the camera or depth sensor. The

EZGripper Dual configuration has about 20mm clearance between the bottom of the lens and the top of

the EZGripper. The EZGripper Quad configuration has a relatively small clearance between the bottom

of the lens and the top of the gripper.

The Baxter does have a plug that is covered by the EZGripper mount, but an optional hole can be milled

to provide access to the electrical connector (as shown below). However, neither the digital

communication protocol or the analog signaling provided are a good match for the ROS controlled

EZGripper. Thus, external cabling is generally required for interfacing the EZGripper to the Baxter robot.

EZGripper Gen 2 Mounting v0.01 April 2017 Page 19

Figure 19: EZGripper mount with hole milled for Baxter plug - available from either orientation of the mount. This is optional and can be requested from SAKE Robotics


Robotis Mounting Pattern Mounting Bolts

Quantity 8



Figure 20: Robotis Mounting Pattern


Barrett WAM Mounting Pattern

Figure 21: Barrett WAM Mounting Patter

The Barrett WAM does have a plug that is covered by the EZGripper mount, but an optional hole can be

milled out to provide access to the electrical connector (not shown). The Barrett WAM provides

passthrough wiring that can allow be used with the EZGripper robotic grippers. Please contact SAKE

Robotics if you are interested in this solution.