ROBOTIQ 2-Finger 140, Instruction Manual

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Robotiq 2-Finger Adaptive Gripper Instruction Manual
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6.2 Mechanical specifications
Specifications :
Specification
2-FINGER 85 2-FINGER 140
Metric units Imperial Units Metric units Imperial Units
Gripper Opening (see ) Figure 6.1.1 85 mm 3.35 in 140 mm 5.5 in
Minimum 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
850 g
1.9 lbs 897 g 2 lbs
Grip force Maximum force calculation below, see for force control Section 4.5
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
Grip force resolution Maximum force calculation below, see for force control Section 4.5
1
Repeatability is defined as the positional deviation resulting from the average displacement determined when picking an object with a parallel grip using
. For more details see the article on repeatability. standard silicone fingertips blog.robotiq.com
2
Resolution is the increment modified from a 1 bit difference of position/speed/force request (from 0 to 255).
Info
All specs are measured with coupling and fingertip (2-Finger 85) or (2-Finger 140). AGC-CPL-062-002 AGC-TIP-204-002 AGC-TIP-220-140