Robotiq 2-Finger Adaptive Gripper
Instruction Manual
Robotiq inc. © 2016
9
The Gripper equilibrium line is the gripping region that separates the encompassing grip from the parallel grip. When gripping an object close enough to the
inside (palm) of the Gripper, the encompassing grip will occur (unless the object size or shape is not adequate) and the fingers will close around the object.
If gripped above the equilibrium line, the same object will be picked up in a parallel grip by the fingertips and the fingers will close with a parallel motion.
Figure 1.5 shows the encompassing grip region, the equilibrium line, and the parallel grip region on the 2-Finger Adaptive Robot Gripper.
Figure 1.5 : Equilibrium line on the 2-Finger, shown with no fingertip pads.
Info
The details of the equilibrium line relation between opening angle and the related position can be found in section
d
Tip
Gripping an object that could be grasped by an encompassing grip (a cylinder for example) on the equilibrium line is not recommended, as slight
variations on the position will switch the grip from parallel to encompassing and vice versa. Robot programming should be done so that the
gripping mode will be predetermined.
