Robotiq 2F-85 Gripper Driver

🔗 GitHub Link

The Robotiq 2F-85 Driver is a Python-based solution designed to streamline the integration of the Robotiq 2F-85 gripper into robotic systems. Unlike many existing drivers, this package is ROS-independent and does not require any C++ compilation, just a simple Python import to get started. The driver provides a straightforward interface to control the gripper’s opening, speed, and force.

Key Features and Benefits:

• Plug-and-Play Setup: The driver automatically detects the gripper’s serial port based on its serial number, removing the need to manually configure port numbers.
• Pure Python Implementation: No C++ code is needed, just install the package with pip and you’re ready to go.
• Enables Accurate Grasping: The driver includes a function to account for fingertip motion, allowing for precise grasping of small objects by compensating for the movement of the gripper’s fingertips.

Usage

Once installed, the driver enables users to quickly initialize the gripper by specifying its serial number, reset it, and control its movements with just a few lines of Python code. Here’s a simple example to demonstrate the driver’s capabilities:

from Robotiq2F85Driver import Robotiq2F85Driver

# Initialize the driver with the gripper's serial number
gripper = Robotiq2F85Driver(serial_number='DAK1RLYZ')

# Reset the gripper
gripper.reset()

# Move the gripper to fully open position (opening = 85 mm)
# The motion is done at 150 mm/s with a force of up to 235 Newtons.
gripper.go_to(opening=85, speed=150, force=235)

# Get the current gripper opening
print(gripper.opening)

For more detailed information, check out the full documentation and source code on the GitHub page: Robotiq 2F-85 Driver. If you have any questions, feel free to reach out to me!

While you are there

By the way, although the gripper is heavily used in academia and industry, nearly all simulation models available online are either incorrect or simply disfunctional. This is due to the fact that the Robotiq 2F-85 has closed kinematic loops (it is an underactuated mechanism), which cannot be easily modeled in URDF. To adress this problem, I made a realistic simulation model that can be accessed here.