5.2. Tools

Custom End-Effector

End-effector

  • End-effector name
    • Sand extruder
    • Gripper
    • Pencil
    • Filament extruder
    • etc…
Sand Extruder
  • TCP (Tool Center Point)
    • Adjusted for every tool
Tool TCP Frame
  • Tool weight adjustment:
    • Max 5kg in UR5
  • Tool electronics in Sand Extrusion tool:
    • Arduino
      • I/O control (Digital output)
    • Servo Motor