Hi, I am a beginner of universal robot. I want to use it open/close lid of our sample contrainers. However, wrist 3 of ur5e can not infinitly rotate, which means it can only rotate one round. How can I cancel ths rotation limit of wrist 3? If the cancellation is impossible, are there any other methods to work it out?
Only the UR3 has infinite wrist rotation. If you start wrapped to -360 degrees and unwrap to +360 degrees, you can get 2 rotations, if that’s enough. Otherwise you would need to regrip or find a different solution.
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You cannot indefinitely rotate wrist 3 on a UR Robot except for the UR3.
If you need infinite robation your best course of action would be to create your own tool that rotates indefinitely.
I dont know if there are commercial tools that do this for this specific application but it would probably be quite simple to adapt an end effector meant for screwdriving. They also often have sensors to determine the torque of the rotation.
Regripping after the rotation limit is reached is an option but that would be incredibly slow
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The infinite rotation of wrist3 on a UR3e is achieved with an electrical slip-ring that connects wrist3 to the tool flange. There are also firmware differences in the joints. You would not be able to apply these modifications to a UR5e.