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EZGripper Quick Start – v0.01 June 2016 Page 1
EZGripper Robotic Gripper
Robot Mounting Guide
EZGripper Gen2 Mounting Plate
Compatible with Gen1 and Gen2 EZGripper robotic grippers.
EZGripper Quick Start – v0.01 June 2016 Page 2
Contents List of Figures ................................................................................................................................................ 2
Overview ....................................................................................................................................................... 4
Simple Mounting Instructions ....................................................................................................................... 5
Mounting EZGripper Gen2 Mounting Plate and Grippers ............................................................................ 6
Mounting Patterns ...................................................................................................................................... 14
ISO-9409-1 Mounting Pattern 40mm and 50mm ....................................................................................... 15
Robotis Mounting Pattern .......................................................................................................................... 16
ISO-9409-1 Mounting Pattern ..................................................................................................................... 17
Baxter Mounting Pattern ............................................................................................................................ 18
Robotis Mounting Pattern .......................................................................................................................... 20
Barrett WAM Mounting Pattern ................................................................................................................. 21
List of Figures
Figure 1: EZGripper Mounting Plates: Gen2 plate on left, Gen 1 plate on right. Both fit Gen1 or Gen2
grippers. ........................................................................................................................................................ 5
Figure 3: EZGripper Gen2 robot mount with clevis pins ............................................................................... 6
Figure 4: EZGripper Gen2 Dual gripper with mount, clevis pins and lock rings ............................................ 6
Figure 5: EZGripper Dual attached to mount with clevis pins inserted ........................................................ 7
Figure 6: EZGripper Dual with mount and locking rings in clevis pins .......................................................... 7
Figure 7: EZGripper “Universal” Mounting Plate .......................................................................................... 8
Figure 8: EZGripper Dual with mounting plate, two clevis pins and two locking pins .................................. 8
Figure 9: Insert pins through mount and EZGripper mounting holes and secure with locking pin. ............. 9
Figure 10: EZGripper Quad with mounting plate and 4 clevis pins and locking pins .................................. 10
Figure 11: Back view of EZGripper Quad and mounting hardware ............................................................ 11
Figure 12: EZGripper Quad with mounting plate slid into place................................................................. 12
Figure 13: EZGripper Quad with mounting plate and clevis pins inserted ................................................. 13
Figure 14: EZ Gripper robotic gripper with attached robot mounting plate with clevis pins and locking
pins .............................................................................................................................................................. 13
Figure 15: ISO-9409-1 40mm and 50mm UR3, UR5, UR10, Fetch, KUKA, Rethink Robotis ........................ 15
Figure 16: Robotis Mounting Pattern ......................................................................................................... 16
Figure 10: ISO-9409-1 UR3, UR5, UR10, Fetch, KUKA ................................................................................. 17
Figure 11 Baxter Mounting Pattern for EZGripper Dual Robotic Grippers ................................................. 18
Figure 12: Baxter Mounting Pattern for EZGripper Quad Robotic Grippers ............................................... 18
Figure 13: EZGripper mount with hole milled for Baxter plug - available from either orientation of the
mount. This is optional and can be requested from SAKE Robotics .......................................................... 19
Figure 14: Robotis Mounting Pattern ......................................................................................................... 20
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Figure 15: Barrett WAM Mounting Patter .................................................................................................. 21
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This guide shows how to physically attach the EZGripper robotic grippers to robots, but does not discuss
the electrical connections or control of the gripper.
Overview The EZGripper “Universal” robot mount provides a physical mount between the EZGripper Dual and
Quad robotic grippers and a variety of robotic arms. There are two versions of the mounting plate,
Gen1 and Gen2. Both versions fit all SAKE Robotic grippers, but they have slightly different mounting
hole patterns to support various robots.
Gen2 “Universal Mount” Gen1 “Universal Mount”
ISO 9409-1 50mm (UR3, UR5, UR10, Fetch, KUKA, …)
Yes Yes
ISO 9409-1 40mm (Sawyer) Yes No
Robotis Manipulator Yes Yes
Native Baxter No Yes
Barrett WAM No Yes
Robots Supported: (Contact customer support if you have different requirements)
- ISO standard 9409-1 medium robotic mount plate
o 40mm and 50mm diameters
- Robots
o Universal Robotics: UR3, UR5, UR10
o Fetch Robotics: Fetch
o Rethink Robotics: Sawyer
o KUKA: LBR iiwa
- Robotis
o Manipulator series robotic arms
o Dynamixel Pro servo interface
The EZGripper robot mounting plate is simple, yet industrial duty and includes the Fast Connect system.
The Fast Connect system uses two or four clevis pins (two for duals, four for quads)12 to hold the
EZGripper robotic gripper to the robot wrist. This is reliable and fast.
The EZGripper robot mount can attach to either an EZGripper Gen2 Dual or EZGripper Gen1 Dual or
EZGripper Gen1 Quad gripper. In all cases, the grippers are center aligned onto the mount. This means
that for most robots, the grippers will rotate around the center of the wrist.
1 2 Screws can be instead of hitch pins.
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The EZGripper robotic gripper mount is composed of ~4mm thick 5051 aluminum for high strength and
stiffness.
Simple Mounting Instructions 1) Mount EZGripper mounting plate onto Robot with bolts (not shown in these instructions)
2) Plug the Robotis servo cable into EZGripper servo connector
3) Mount the EZGripper robotic gripper onto the mounting plate using clevis pins
Figure 1: EZGripper Mounting Plates: Gen2 plate on left, Gen 1 plate on right. Both fit Gen1 or Gen2 grippers.
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Mounting EZGripper Gen2 Mounting Plate and Grippers
Figure 2: EZGripper Gen2 robot mount with clevis pins
Figure 3: EZGripper Gen2 Dual gripper with mount, clevis pins and lock rings
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Figure 4: EZGripper Dual attached to mount with clevis pins inserted
Figure 5: EZGripper Dual with mount and locking rings in clevis pins
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Figure 6: EZGripper “Universal” Mounting Plate
Figure 7: EZGripper Dual with mounting plate, two clevis pins and two locking pins
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Figure 8: Insert pins through mount and EZGripper mounting holes and secure with locking pin.
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Figure 9: EZGripper Quad with mounting plate and 4 clevis pins and locking pins
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Figure 10: Back view of EZGripper Quad and mounting hardware
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Figure 11: EZGripper Quad with mounting plate slid into place
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Figure 12: EZGripper Quad with mounting plate and clevis pins inserted
Figure 13: EZ Gripper robotic gripper with attached robot mounting plate with clevis pins and locking pins
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The clevis pins are longer than necessary in the EZGripper Quad robot gripper configuration. This causes
slack that allows the clevis pins to slide back and forth. This has no effect on the strength or rigidity of
the installation. The slack can be removed by using additional spacers. Generally, the slack can be
ignored.
Mounting Patterns The EZGripper mounting plate supports many different robots by including a variety of hole patterns in
the “Universal” mounting plate.
All mounting holes, except for the Baxter, are symmetric around the center point of the gripper mount.
The center point is defined as the center of rotation for the grippers – either Dual or Quad.
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ISO-9409-1 Mounting Pattern 40mm and 50mm Mounting Bolts
Quantity 4
M6X10 Low Head Socket Cap Screw Steel 8.8 DIN7984 (preferred)
M6X10 Button Head Socket Cap Screw Steel 10.9 ISO7380
Note: The full height M6 socket screws will hit interfere with the gripper mounting.
Figure 14: ISO-9409-1 40mm and 50mm UR3, UR5, UR10, Fetch, KUKA, Rethink Robotis
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Robotis Mounting Pattern Mounting Bolts
Quantity 8
M3X8 Low Head Socket Cap Screw Steel 8.8 DIN7984 (preferred)
M3X8 Button Head Socket Cap Screw Steel 10.9 ISO7380
Figure 15: Robotis Mounting Pattern
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ISO-9409-1 Mounting Pattern Mounting Bolts
Quantity 4
M6X10 Low Head Socket Cap Screw Steel 8.8 DIN7984 (preferred)
M6X10 Button Head Socket Cap Screw Steel 10.9 ISO7380
Note: The full height M6 socket screws will hit interfere with the gripper mounting.
Figure 16: ISO-9409-1 UR3, UR5, UR10, Fetch, KUKA
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Baxter Mounting Pattern Mounting Bolts
Quantity 4
M4X8 Low Head Socket Cap Screw Steel 8.8 DIN7984 (preferred)
M4X8 Button Head Socket Cap Screw Steel 10.9 ISO7380
Figure 17 Baxter Mounting Pattern for EZGripper Dual Robotic Grippers
Figure 18: Baxter Mounting Pattern for EZGripper Quad Robotic Grippers
The mounting position of the EZGrippers on the Baxter do not block the camera or depth sensor. The
EZGripper Dual configuration has about 20mm clearance between the bottom of the lens and the top of
the EZGripper. The EZGripper Quad configuration has a relatively small clearance between the bottom
of the lens and the top of the gripper.
The Baxter does have a plug that is covered by the EZGripper mount, but an optional hole can be milled
to provide access to the electrical connector (as shown below). However, neither the digital
communication protocol or the analog signaling provided are a good match for the ROS controlled
EZGripper. Thus, external cabling is generally required for interfacing the EZGripper to the Baxter robot.
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Figure 19: EZGripper mount with hole milled for Baxter plug - available from either orientation of the mount. This is optional and can be requested from SAKE Robotics
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Robotis Mounting Pattern Mounting Bolts
Quantity 8
M3X8 Low Head Socket Cap Screw Steel 8.8 DIN7984 (preferred)
M3X8 Button Head Socket Cap Screw Steel 10.9 ISO7380
Figure 20: Robotis Mounting Pattern
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Barrett WAM Mounting Pattern
Figure 21: Barrett WAM Mounting Patter
The Barrett WAM does have a plug that is covered by the EZGripper mount, but an optional hole can be
milled out to provide access to the electrical connector (not shown). The Barrett WAM provides
passthrough wiring that can allow be used with the EZGripper robotic grippers. Please contact SAKE
Robotics if you are interested in this solution.