Tools technical specifications
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Tools Overview
==============================================================

Ned is compatible with 5 different sorts of tools:

- 3 x Grippers
- 1 x Electromagnet
- 1 x Vacuum Pump

Specifications
==============================================================

Custom Gripper
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Overview - Standard Jaws
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.. |pic1| image:: /images/Schema_Gripper/GRIPPER_STANDARD_SCHEMA_1.jpg
   :width: 500px

.. |pic2| image:: /images/Photos-Gripper/GRIPPER_MORS_STANDARD.png
   :width: 266px

|pic1| |pic2|

Overview - XL Jaws
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.. |pic3| image:: /images/Schema_Gripper/GRIPPER_XL_SCHEMA_1.jpg
   :width: 500px

.. |pic4| image:: /images/Schema_Gripper/GRIPPER_XL_SCHEMA_2.jpg
   :width: 266px

.. |pic5| image:: /images/Photos-Gripper/GRIPPER_MORS_XL.png
   :width: 250px

|pic3| |pic4| |pic5|


Overview - Flat Jaws
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.. |pic6| image:: /images/Schema_Gripper/GRIPPER_FLAT_SCHEMA_1.jpg
   :width: 500px

.. |pic7| image:: /images/Schema_Gripper/GRIPPER_FLAT_SCHEMA_2.jpg
   :width: 266px

.. |pic8| image:: /images/Photos-Gripper/GRIPPER_MORS_FLAT.png
   :width: 250px

|pic6| |pic7| |pic8|


Overview - Precision Jaws
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.. |pic9| image:: /images/Schema_Gripper/GRIPPER_PRECISION_SCHEMA_1.jpg
   :width: 500px

.. |pic10| image:: /images/Photos-Gripper/GRIPPER_MORS_PRECISION.png
   :width: 250px

|pic9| |pic10|

Overview - Vision Jaws
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.. |pic11| image:: /images/Schema_Gripper/GRIPPER_VISION_SCHEMA_1.jpg
   :width: 500px

.. |pic12| image:: /images/Schema_Gripper/GRIPPER_VISION_SCHEMA_2.jpg
   :width: 266px

.. |pic13| image:: /images/Photos-Gripper/GRIPPER_MORS_VISION.png
   :width: 250px

|pic11| |pic12| |pic13|

Custom Gripper’s technical specifications
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.. |br| raw:: html

    <br>
    
.. list-table::
   :header-rows: 1
   :widths: auto
   :align: center

   *  - Parameter
      - Description

   *  - Max operating width
      - Standard Jaws: 23.82 mm |br|
        XL Jaws: 73.92 mm |br|
        Flat Jaws: 35.92 mm |br|
        Precision Jaws: 21.57 mm |br|
        Vision Jaws: 48.92 mm |br|

   *  - Picking distance from end effector base 
      - Standard Jaws: 85 mm |br|
        XL Jaws: 85 mm |br|
        Flat Jaws: 90 mm |br|
        Precision Jaws: 85 mm |br|
        Vision Jaws: 85 mm

   *  - Motor  
      - XL320 Servo Motor

   *  - Weight  
      - Standard Jaws: 109 g |br|
        XL Jaws: 107 g |br|
        Flat Jaws: 123 g |br|
        Precision Jaws: 101 g |br|
        Vision Jaws: 107 g |br|

   *  - Power Supply   
      - 7.6 V

   *  - Operating temperature  
      - 5-45°C

Large Gripper
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.. |pic14| image:: /images/Schema_Gripper/GRIPPER_LARGE_SCHEMA_1.jpg
   :width: 400px

.. |pic15| image:: /images/Schema_Gripper/GRIPPER_LARGE_SCHEMA_2.jpg
   :width: 311px

.. |pic16| image:: /images/Photos-Gripper/GRIPPER_LARGE.png
   :width: 250px

|pic14| |pic15| |pic16|

.. list-table::
   :header-rows: 1
   :widths: auto
   :align: center

   *  - Parameter
      - Description

   *  - Max operating width
      - 60 mm

   *  - Picking distance from end effector base 
      - 80 mm

   *  - Motor  
      - XL320 Servo Motor

   *  - Weight  
      - 90 g

   *  - Power Supply   
      - 7.6 V

   *  - Operating temperature  
      - 5-45°C

Adaptive Gripper
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.. |pic17| image:: /images/Schema_Gripper/GRIPPER_ADAPTATIVE_SCHEMA_1.jpg
   :width: 400px

.. |pic18| image:: /images/Schema_Gripper/GRIPPER_ADAPTATIVE_SCHEMA_2.jpg
   :width: 357px

.. |pic19| image:: /images/Photos-Gripper/GRIPPER_ADAPTATIF.png
   :width: 250px

|pic17| |pic18| |pic19|

.. list-table::
   :header-rows: 1
   :widths: auto
   :align: center

   *  - Parameter
      - Description

   *  - Max operating width
      - 90 mm

   *  - Picking distance from end effector base 
      - 85 mm

   *  - Motor  
      - XL320 Servo Motor

   *  - Weight  
      - 110 g

   *  - Power Supply   
      - 7.6 V

   *  - Operating temperature  
      - 5-45°C

Electromagnet
############################################################

.. |pic20| image:: /images/Schema_Gripper/GRIPPER_ELECTROMAGNET_SCHEMA_1.jpg
   :width: 500px

.. |pic21| image:: /images/Photos-Gripper/AIMANT.png
   :width: 250px

|pic20| |pic21|

.. list-table::
   :header-rows: 1
   :widths: auto
   :align: center

   *  - Parameter
      - Description

   *  - Max operating width
      - 20 mm

   *  - Picking surface 
      - 20 mm

   *  - Picking distance from end effector base 
      - 22.5 mm

   *  - Control interface  
      - Digital output

   *  - Weight  
      - 42 g

   *  - Power Supply   
      - 5 V

   *  - Operating temperature  
      - 5-45°C

Vacuum Pump
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.. |pic22| image:: /images/Schema_Gripper/GRIPPER_VACUUM_PUMP_SCHEMA_1.jpg
   :width: 500px

.. |pic23| image:: /images/Schema_Gripper/GRIPPER_VACUUM_PUMP_SCHEMA_2.jpg
   :width: 275px

.. |pic24| image:: /images/Photos-Gripper/POMPE.png
   :width: 250px

|pic22| |pic23| |pic24|

.. list-table::
   :header-rows: 1
   :widths: auto
   :align: center

   *  - Parameter
      - Description

   *  - Vacuum Pump control
      - Integrated XL320 servo motor 

   *  - Weight  
      - 10 g

   *  - Total weight  
      - 170 g

   *  - Payload  
      - 300 g

   *  - Power Supply   
      - 7.6 V

   *  - Operating temperature  
      - 5-45°C

   *  - Vacuum Tube dimension   
      - 20 mm

   *  - Picking distance from end effector base  
      - 47 mm