Active Force-Control Unit
AssemblyPneumatic compliance unit between the wrist and the end-effector that holds a constant contact force as part geometry varies. A full specification article for this item is being written. Meanwhile its bill of materials and connections are below.
Bill of materials for Active Force-Control Unit
5 top-level lines as of r77849| # | Item / sub-assembly | Part no. | Qty/assy | Ext. qty | Parts | Type |
|---|---|---|---|---|---|---|
| 1 | Compliance Actuator 3 parts | grinding-robot-compliance-actuator | 1× | 1 | 0 | assembly |
| 2 | Force/Torque Sensor | grinding-robot-force-sensor | 1× | 1 | · | part |
| 3 | Proportional Regulator | grinding-robot-pressure-regulator | 1× | 1 | · | part |
| 4 | Pressure Sensor | pressure-sensor | 1× | 1 | · | part |
| 5 | Force-Control Board 4 parts | grinding-robot-fc-controller | 1× | 1 | 0 | assembly |