2F-85 & 2F-140 - Instruction Manual
5.2. Mechanical specifications
Info
Data shown in the table below is typical for new products, and will vary with use.
Specification
2-FINGER 85
2-FINGER 140
Metric Units
Imperial Units
Metric Units
Imperial Units
Stroke
85 mm
3.35 in
140 mm
5.5 in
Minimum object diameter
(for encompassing)
43 mm
1.69 in
90 mm
3.5 in
Maximum height
162.8 mm
6.4 in
232.8 mm
9.15 mm
Maximum width
148.6 mm
5.85 in
202.1 mm
8.0 in
Weight
925 g
2.04 lbs
1,025 g
2.25 lbs
Grasp Force
20 to 235 N
4.5 to 52.8 lbf
10 to 125 N
2.2 to 28.1 lbf
Finger speed
20 to 150 mm/s
0.8 to 5.9 in/s
30 to 250 mm/s
1.2 to 9.8 in/s
Position repeatability
1
0.05 mm
0.002 in
0.08 mm
0.003 in
Force repeatability
+/- 10%
Position resolution
2
0.4 mm
0.016 in
0.6 mm
0.022 in
Grasp force resolution
Maximum force calculation below; refer to the Force Control section
Table 5-1: Mechanical specifications of the Robotiq 2-Finger 85 and 140 Adaptive Grippers fitted with coupling GRP-CPL-062 and
fingertip AGC-TIP-MLD-KIT-85 (2-Finger 85) or AGC-TIP-MLD-KIT-140 (2-finger 140)
1
Repeatability is defined as the positional deviation resulting from the average displacement determined when picking an object with a
parallel grasp using standard NBR overmolded fingertips. For more details see the blog.robotiq.com article on repeatability. Position
repeatability varies depending on the product wear and operating conditions. The presented values are typical for the newly-
manufactured products.
2
Resolution is the increment modified from a 1 bit difference of position/speed/force request (from 0 to 255).
