The Mantis gripper by Andreas Hölldorfer's is great, but suffers because using a rc servo you can't tell if when an object has been successfully gripped, how big it is or control how hard it is held. This can be a particular problem as the if the object is held for a long time the servo will tend to overheat. This project aims to fix this by replacing the servo controller with an Arduino based solution.
The control software is integrated with ROS and contains a URDF model, collision meshes, and visual meshes for integration so it is easy to use with packages like MoveIt!
The CAD files, software and electronic components can be found at github Force Sensing Mantis Gripper.
- The servo motor can still overhead if left gripping an object too long. This is particularly a problem if you print the gripper parts in PLA
- Ideally it would put on a custom PCB or use one of great smart servo controller projects seen on this site.
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