3D models of shells for standardized objects compatible with ATI-IA MINI45 and NANO17 force sensors. See:
https://www.astm.org/workitem-wk83863
https://www.nist.gov/el/intelligent-systems-division-73500/robotic-grasping-and-manipulation-assembly/grasping
Grasp Example (picture by Xiaowei Shan):
Simply print the desired shells with your favorite 3d printing machine. Fine layers are recommended (0.1-0.2 mm). No support material required, see AllShells_3DPrinting.3mf
Assemble all components, use 6 M2x5 socket head screws.
Attach first half shell with 3 screws. DO NOT OVERTIGHTEN THE SCREWS!
You can damage the force sensors if excessive torque is applied.
Attach second half shell with 3 screws. AGAIN DO NOT OVERTIGHTEN THE SCREWS!
Finished!
Assemble all components, use 12 M3x8 socket head screws.
Attach first half shell with 3 screws. DO NOT OVERTIGHTEN THE SCREWS!
You can damage the force sensors if excessive torque is applied.
Attach second half shell with 3 screws. AGAIN DO NOT OVERTIGHTEN THE SCREWS!
Finished!
Cut the PVC pipe to the same length as the shells (48mm for the MINI45 shells, 50mm for the NANO17) and split the cut pipe in half. Then, snap each half over the 3d printed shells:
If needed, secure both pvc covers with scotch tape.
M2x5 socket head screws: https://www.mcmaster.com/91292A005/
M3x8 socket head screws: https://www.mcmaster.com/91292A112/
Schedule 40 PVC pipe 2-3/8" diameter: https://www.mcmaster.com/49035K48/
Schedule 40 PVC pipe 3-1/2" diameter: https://www.mcmaster.com/49035K49/
one roll of clear scotch tape
The files of this project are provided "as is", and at your own risk. Under no circumstances shall any author be liable for direct, indirect, special, incidental, or consequential damages resulting from the use, misuse, or inability to use these files, even if the authors have been advised of the possibility of such damages.