Vacuum suction gripper, single cup

A cobot maker's vacuum gripper: one suction cup on a compact body with its own vacuum generator.

Suction gripperProxyEntrantBSD-3-Clause

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Facts

Kind: Suction gripper
Class: Simulation model of a product (generic name)
Capabilities: suctionholds a flat face by vacuum
Mount: The arm maker's tool flange (6 x M6 and one 6 mm locating hole).ISO pattern: none (own interface)

Specifications

Spec	Value	Basis	Source
Mass	0.656 kg	Sourced	Source
Tool centre point from the flange	126 mm	Sourced	Source
Cup lip diameter used in simulation	40 mm	Assumed	our assumption, not read from a source

Simulation

Status: ProxyGenerated simulation proxy
Model source: The seal-gated suction family at its largest cup.
Fidelity: Approximation
Family: suction
Note: The description has no vacuum model and no cup dimensions: the suction family supplies the seal test and the capped vacuum, with its largest cup (40 mm, assumed).
Tournament: Entrant1 entrant spec in the effector tournament.

Compile and attach gate

Each entrant spec is built in the tournament's shared scene on every training part. One nominal episode per built part (no placement error, seed 0) is information, not part of the gate.

Suction cup, 40 mm bellows

GATE PASSED

Primitive: seal
Actuators: 1
Mass: 107 g
Reach: 26.5 mm
Opening: n/a

Training part	Gate	Held (nominal)	Nominal outcome	Penetration
Block	built	no	Missed grasp	0.18 mm
Steel slug	built	no	Missed grasp	0.07 mm
Hex standoff	built	no	Missed grasp	0.00 mm
L-bracket	built	no	Missed grasp	0.00 mm
Pipe tee	built	no	Missed grasp	0.08 mm
Flanged bushing	built	no	Missed grasp	0.01 mm

Held on no training part in the nominal episode.

Licence

BSD-3-ClauseCovers the robot description and meshes. Licence text

Licence rating: green. Full attribution: see the credits page.

Files

File	Type	Size	Licence	Changed
vacuum_gripper_collision.stlassets/effectors/library/suction-cup-cobot/sim/vacuum_gripper_collision.stl	Simulation file	36.0 kB	BSD-3-Clause	as upstream

Each file links to its copy in the repository. Licence texts sit next to them in LICENSES/. What changed is on the credits page.

Upstream

Upstream repository, commit 62936f7e