Quanser QArm End Effector Alternatives and Modifications
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A collection of two modifications/alternatives for the Quanser QArm's stock end effector and codebase.
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A collection of two modifications/alternatives for the Quanser QArm's stock end effector and codebase.
Full Disclaimer: I am not affilliated with Quanser in any way and this work is entirelyy my own. As such, none of this is provided with warranty and any damage you do to your arm be performing these mods is entirely on you. This is just a collection of my work to try and make the arms work better for my use case.
With that out of the way, this page has all the CAD designs and part files to my mods as well as some documentation. The codebase and PCB design files for my mods are over on GitHub so you can head over there for those. I'd start by reading the documentation pdf before proceeding any further. That tells you everything you need to know. Please note that these mods are not very intuitive, but if you're looking to get more out of the QArms they may help you out. The goal was to solve some major issues with repeatability and reliability that I had with the arms and so I designed some changes to the code and end effector to suite my use better.
There are two mods here. The first is a parallel jaw end effector with compliant fingers and a gearbox with herringbone gears that re-uses most of the stock end effector parts. The other is a modular platform for you to build your own custom designs. It uses a DC motor with encoder so it will never be good at staying where you put it due to lack of holding torque, but it can tell position. The idea here is that it's easy to program and set up and requires pretty much nothing other than 3D printed parts so it could be used as an example setup to teach people to design their own end effectors or something like that.
For all parts across both mods except the two finger pads in the parallel jaw mod, use PETG or PA-CF. For those alone, use as soft a TPU as you can get your hands on (I used 85A) and paint fuzzy skin onto the sides for more grip. Use four perimeters on all the rigid parts. For full description of print settings and assembly instructions, read the documentation pdf, this is just a summary of the important things.
This model was created using Fusion 360.