../../_images/tiago-icon.png

Swapping end-effectors#

Overview#

This section explains how to change the end-effectors of TIAGo. The complete procedure to change the end-effector is shown in the following video Demounting and mounting TIAGo’s end-effectors. An overview of the steps is given below.

First, make sure that the robot is completely turned off in order to ensure maximum safety during the procedure.

Locate the fastener that locks the end-effector in the end-effector clamp, as shown in the figure below:

../../_images/locate_clamp_fastener_01.png

Screw locking the clamp of the end-effector#

Use an appropriate Allen key to loosen the locking screw of the clamp, as shown in the figure below.

../../_images/loosen_locking_screw.png

Loosen the locking screw#

Unlock the clamp by rotating it counterclockwise as shown in the figure below.

../../_images/unlock_clamp_by_hand.png

Unlocking the clamp by hand#

If the clamp cannot be unlocked by hand, use the tool provided with the spare end-effector, see the figure below. Insert the tool in the groove edge of the clamp and rotate it counterclockwise in order to unlock it, as shown in the figure below.

../../_images/end-effector-tool.png

Tool for end-effector clamp#

../../_images/unlock_clamp_with_tool.png

Unlocking the clamp using the tool provided#

Once the clamp is unlocked, unmount the end-effector by lightly shaking and pulling it at the same time, see the figure below.

../../_images/unmount_gripper.png

Unmounting the gripper#

See also#