Catch Unit
Description
Catch is a gripper that uses a SG92R servo as a power source. The servo uses a PWM signal to drive the gripper gear to rotate and control the gripper for clamping and releasing operations. The structure adopts a design compatible with Lego 8mm round holes. You can combine it with other Lego components to build creative control structures, such as robotic arms, gripper carts, etc.
Because the opening and closing angle of the gripper is 90°, please control the rotation angle of the driving servo to 0-45° (PWM: freq: 50Hz, 0°-45°(pulse:0.5ms-1ms) to prevent blocking rotation. The steering gear burned out.
Product Features
- SG92R steering gear
- PWM signal drive
- Lego hole compatible
- The jaw opening and closing angle is 90°
- Compatible with RoverC
- Support input voltage: 4.2-6V
- Development platform UIFlow , MicroPython , Arduino
Include
- 1x Catch Unit(Built-in Servo-SG92R)
- 1x HY2.0-4 adapter
- 1x RoverC.Pro Connector
Application
- Robot gripper
- Steering gear manipulator gripper
Specification
| Master control resources | Parameter |
|---|---|
| Servo model | SG92R |
| Drive signal | PWM: freq: 50Hz, 0°-45°(pulse:0.5ms-1ms) |
| Working frequency | 50Hz |
| Clamping jaw opening and closing angle | 90° |
| Input voltage range | 4.2-6V |
| Work dead zone | 10us |
| Output torque | 2.5kg/cm at 4.8V |
| Output speed | 0.1sec/60° at 4.8V |
| Working temperature | 0°C to 55°C |
| Net weight | 21.5g |
| Gross weight | 50g |
| Product size (gripper extension) | 72 x 56 x 37 mm |
| Package size | 147 x 90 x 40 mm |
| Shell material | Plastic (PC ) |
Pin mapping
When the Catch Unit is connected to PortB, the pin mapping is as follows
| M5Core(PORT B) | GPIO26 | 5V | GND |
|---|---|---|---|
| Catch Unit | SIGNAL | 5V | GND |
Example
This case controls the Catch Unit clamping jaws to perform clamping and releasing cycles.
//Description: Control Catch Unit through PWM.
#include <M5Stack.h>
const int servoPin = 26;
int freq = 50;
int ledChannel = 0;
int resolution = 10;
void setup() {
// put your setup code here, to run once:
M5.begin();
M5.Power.begin();
M5.Lcd.setCursor(100, 50, 4);
M5.Lcd.println("Catch Unit");
M5.Lcd.setCursor(40, 120, 4);
ledcSetup(ledChannel, freq, resolution);
ledcAttachPin(servoPin, ledChannel);
}
void loop() {
// High level 0.5ms is angle 0°
// duty = 0.5/20ms = 0.025, 0.025*1023≈25
ledcWrite(ledChannel, 25);
delay(2000);
// High level 1ms is angle 45°
// duty = 1/20ms = 0.05, 0.05*1023≈50
ledcWrite(ledChannel, 50);
delay(2000);
}