berkeleyautomation / robottoolchanger

Tool-changer and tool for collaborative and service robots

Tool-changer and tools for collaborative and service robots

This repo include the design and software needed to create a tool-changer for collaborative and service robots.
The repo also include several tools that can be created and used with or without the tool-changer.

The tool-changer is described in branch tool-changer, which include the three main components of the tool-changer: robot-component, tool-component, and tool-housing.

The tool-changer was originally designed to be used with ABB YUMI collaborative robot.
With minor adjustments the tool-changer design can be retrofit to most mobile and stationary robots.
The project includes the design, manufacturing, programming, and evaluation of a tool-changer for robots.
To examine the design we evaluated the tool-changer on ABB YuMi, a two-arm stationary robot.

Getting Started

The tool-changer and the different tools are organized in separate branches.
To get started with the tool-changer, open the tool-changer branch and follow instructions.
To manufacture a tool, open the tool branch and follow the design instructions and supplementary material (software, electrical drawings, etc.).

Adding new tool

To add new tool the developer will work on branch new-tool, and ask the contributors to do pull-request.

Authors

Ron Berenstein - website

See also the list of contributors who participated in this project.

Acknowledgments

• CITRIS invention lab
• Jacob Gallego from UC Berkeley machine shop