0/3/2018 Newton Gripper Newton Gripper Introduction The Newton Gripper is a sealed, single function manipulator which can operate at depths of up to 300 meters. The Newton Gripper can be smoothly opened or closed with a servo PWM signal to provide the BlueROV2 and other subsea vehicles with the ability to interact with the subsea environment to retrieve objects, attach recovery lines, or free a snagged tether.
10/3/2018 Newton Gripper Speci cation Table Electrical Item Value Supply Voltage (Vin) 9 - 18 volts PWM Logic Voltage 3.3 volts PWM Neutral Signal 1500 μs PWM Open Signal >1530 μs-1900 μs PWM Close Signal <1470 μs-1100 μs Peak Current 6 amps Mechanical Grip Force (at tip) 97N 22lbf Grip Force (in middle) 124N 28lbf Linear Piston Travel 15mm 0.59in Jaw Opening 70mm 2.75 in Time to Open/Close 1.6 secs Cable Cable Diameter 3.8 mm 0.
10/3/2018 Newton Gripper Newton Gripper Assembly Newton Gripper Mount 3D Model All 3D models are provided in zip archives containing the follow le types: SolidWorks Part (.sldprt) IGES (.igs) STEP (.step) STL (.stl) Newton Gripper Newton Gripper Assembly NEWTON-GRIPPER-ASM-R3-PUBLIC.zip (/newton-gripper/cad/NEWTON-GRIPPER-ASM-R3-PUBLIC.zip) Newton Gripper Mount NEWTON-MOUNT-ASM-R1-PUBLIC.zip (/newton-gripper/cad/NEWTON-MOUNT-ASM-R1-PUBLIC.
10/3/2018 Newton Gripper 1 x 2.5 mm hex driver 1 x #1 Phillips head screwdriver 1 x Penetrator wrench 1. To ensure your ROV is completely powered o , please remove the battery completely from the 3” enclosure and place to the side. 2. Remove the fairings and buoyancy blocks by removing the self-tapping screws that hold the fairings to the frame. 3. Remove the 4” electronics enclosure from the ROV by removing the M3x16 screws that mount the enclosure to the ROV cradle. http://docs.bluerobotics.
10/3/2018 Newton Gripper 4. Remove the Vent Plug from the Vent Penetrator Bolt on the electronics enclosure. Remove the 4” tube and forward dome assembly from the rear end cap. 5. Remove the blank penetrator as pictured from the 4” End Cap with the penetrator wrench that came with the BlueROV2 kit. http://docs.bluerobotics.
10/3/2018 Newton Gripper Install Newton Gripper Penetrator To install the Newton Gripper into the end cap, you will need the following parts and tools: 1 x Newton Gripper assembly 1 x Penetrator Nut (Red) 1 x Penetrator O-ring 1 x Silicone Grease – 10g Tube 1 x Isopropyl Alcohol Wipe 1 x Penetrator wrench 1.
10/3/2018 Newton Gripper Wiring Connections To install the Newton Gripper wires into your BlueROV2, you will need the following tool: 1 x Large (~#2) Phillips head screw driver 1. Plug the Gripper Signal Wire (Yellow) into Aux Channel 3 (or other free AUX Channel) with the yellow wire oriented toward the bottom of the Pixhawk. http://docs.bluerobotics.
10/3/2018 Newton Gripper 2. Connect the power wires (red and black wires) into open screw terminals on the respective positive and negative terminal blocks. Reassemble BlueROV2 Electronics Enclosure http://docs.bluerobotics.
10/3/2018 Newton Gripper To reassemble your BlueROV2 electronics Enclosure, you will need the following parts and tools: 4 x M3x16 screws that were placed o to the side during disassembly 1 x Silicone Grease – 10g Tube 1 x 2.5 mm hex driver 1.
/3/2018 Newton Gripper 3. Remove the 3” battery enclosure by removing the M4x14 Screws from the bottom of the frame. 4. Cut out and align one of the the provided templates onto the bottom side (with the counterbore holes) and tape in place. You have the option of mounting the gripper to the right or left side of the vehicle. http://docs.bluerobotics.
10/3/2018 Newton Gripper 5. With a hand powered drill and 5.50mm drill bit, drill straight holes in the indicated position markings. 6. Re-attach the 3” battery enclosure to the frame with the M4x14 Screws. 7. Re-attach the bottom frame panel to the BlueROV2 with the four M5x16 Screws. 8. Place the Gripper assembly into the Mount half with the holes for mounting onto the frame. 9. Slide the other Mount half onto the gripper assembly and insert the Thumbscrew into the mount hole. http://docs.
10/3/2018 Newton Gripper 10. Coming from the aft end of the BlueROV2, weave the Gripper assembly into its mounting location, apply a drop of threadlocker to the included M5x16 Screwsand secure to the frame. http://docs.bluerobotics.
10/3/2018 Newton Gripper Cable Management To clean up the external Newton Gripper cable, you will need the bag of 5 zip ties and your scissors/wire cutters. The primary goal of cable management is to prevent the wires from getting cut by the propellers. Make sure to check that no wires can reach the propellers after you have nished routing the Newton Gripper cable. Below is an example of what the cable routing should look like.
10/3/2018 Newton Gripper Adjusting Ballast on the Frame To adjust the amount or position of ballast on the frame you need the following parts and tools: 7 x 200g Ballast weights (from original BlueROV2 Kit) 10 x 8-16 Thread, 5/8” Long, Thread-Forming Screws 1 x #2 Phillips head screwdriver To get the longest battery life and the best driving experience, it is important to have the ROV close to balanced from front to back in water and close to neutrally buoyant.
10/3/2018 Newton Gripper Note that these button functions only exist for Aux Channels 1~3. Should your Newton Gripper be connected to any other output channel, you will be unable to control it with joystick buttons. You may set-up your controller buttons however you like, however the limited number of buttons means that you will have to shift the button controls around.
10/3/2018 Newton Gripper Button Function Shift Function 4 disarm Disabled 5 shift Disabled 6 arm Disabled 7 mount_center Disabled 8 input_hold_set Disabled 9 servo_3_min_momentary mount_tilt_down 10 servo_3_max_momentary mount_tilt_up 11 gain_inc trim_pitch_dec 12 gain_dec trim_pitch_inc 13 lights1_dimmer trim_roll_dec 14 lights1_brighter trim_roll_inc 15 Disabled Disabled Final Test That’s it! Once powered up you should be able to control the gripper with the joysti
10/3/2018 http://docs.bluerobotics.
