ROBOTIQ 2-Finger 140, Instruction Manual

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Robotiq 2-Finger Adaptive Gripper Instruction Manual
Robotiq inc. © 2016 112
6.2.2 Moments and force limit
The 2-Finger Adaptive Gripper has maximum moments and force limit. The listed moments and forces are independent to the force applied by the Gripper
itself on it's payload. For payload calculation, see
. section 6.2
Parameters Finger Option
2-Finger 85 2-Finger 140
Fx, Fy, Fz 50 N 25 N
Mx* 5 Nm 5 Nm
My* 5 Nm 5 Nm
Mz 3 Nm 3 Nm
* Moments in x and y are calculated from the base of the finger tips as shown in figure 6.2.2
Example usage of the listed limit :
After picking it's normal payload, the robot can use the 2-Finger 85 Gripper to apply up to 50 N of force in any direction. Applying more then 50 N
could damage the Gripper or result in payload loss.
The Gripper can pick a screwdriver and apply 3 Nm of torque to screw ( such moment would be in the Z axis).
Warning
The following limits must be respected at all time. Calculation of maximum moment and force should include the robot acceleration and a safety
factor.