UR Pen Holder End Effector
thingiverse
This attachment is specifically designed to connect directly to the tool flange of a Universal Robots robot and securely hold a genuine UR brand pen in place. Its primary purpose is to assist educators in teaching students about adjusting Tool Center Points (TCPs) within programming, as well as demonstrate the path-recording or MoveP functionality on UR robots. A gentle 0.5-degree taper can be found on the section that cradles the pen, allowing for a snug fit. This design can easily be modified to accommodate various other types of pens.
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