My gripper performs bad repeatability,is it a physical engine problem?
Posted: 11 Apr 2018, 07:01
Hello,
I build a Robotiq-140 gripper.Different from the example Robotiq-85 in vrep,I use true working principle to build the model.See https://www.dropbox.com/s/0kbzamzzzixwq ... 0.png?dl=0 and https://www.dropbox.com/s/f2elivjsbzh9m ... 9.png?dl=0
I use it to grab a cylinder,it works good at first time.But when I keep repeat the action(open and close the gripper),the gripper is deformed.I checked all the component and the relationship,but the problem remains.
first time close:https://www.dropbox.com/s/1hue2lx5dlteg ... 1.png?dl=0
frist time open:https://www.dropbox.com/s/hty11sw0y84zz ... 1.png?dl=0
second time close:https://www.dropbox.com/s/4zmm2yrrai9kr ... 2.png?dl=0
second time open:https://www.dropbox.com/s/9qg1q790wm5mh ... 2.png?dl=0
We can see at second time the gripper begin to become deformed.Here is a result after several open and close:
result:https://www.dropbox.com/s/mqxlj60v88eb1 ... t.png?dl=0
What is my model's problem?Or it is the physical engine that make the weird behavior?
my scene:https://www.dropbox.com/s/kw8n5r8o8nuv7 ... t.ttt?dl=0
my model:https://www.dropbox.com/s/ygvs4www0qwlk ... 0.ttm?dl=0
System:Window10 64bit
Ver:3.5.0
Physical engine:vortex
thanks
I build a Robotiq-140 gripper.Different from the example Robotiq-85 in vrep,I use true working principle to build the model.See https://www.dropbox.com/s/0kbzamzzzixwq ... 0.png?dl=0 and https://www.dropbox.com/s/f2elivjsbzh9m ... 9.png?dl=0
I use it to grab a cylinder,it works good at first time.But when I keep repeat the action(open and close the gripper),the gripper is deformed.I checked all the component and the relationship,but the problem remains.
first time close:https://www.dropbox.com/s/1hue2lx5dlteg ... 1.png?dl=0
frist time open:https://www.dropbox.com/s/hty11sw0y84zz ... 1.png?dl=0
second time close:https://www.dropbox.com/s/4zmm2yrrai9kr ... 2.png?dl=0
second time open:https://www.dropbox.com/s/9qg1q790wm5mh ... 2.png?dl=0
We can see at second time the gripper begin to become deformed.Here is a result after several open and close:
result:https://www.dropbox.com/s/mqxlj60v88eb1 ... t.png?dl=0
What is my model's problem?Or it is the physical engine that make the weird behavior?
my scene:https://www.dropbox.com/s/kw8n5r8o8nuv7 ... t.ttt?dl=0
my model:https://www.dropbox.com/s/ygvs4www0qwlk ... 0.ttm?dl=0
System:Window10 64bit
Ver:3.5.0
Physical engine:vortex
thanks