ROBOTIQ CNC Machine Tending Kit, Instruction Manual

Page: 119 / 144

Robotiq CN C M achine Tending Kit Instruction M anual
Fig. 8-2: Coupling for ISO 9409-1-50-4-M6.
Fingers and fingertips
The contact grip points for Hand-E are its two fingertip pads.
Different fingertips are available from Robotiq(see section Spare Parts, Kits and Accessories). Users can also create custom fingertips,
as mentioned in section Custom Fingers. Custom fingertips must meet the following specifications:
l
Forces exerted at the end of the fingertips must not exceed 100 N , regardless of the direction. See section Moment and force limits
for more details.
Warning
The following limits must be respected at all times. Calculation of maximum moment and force should include robot
acceleration and safety factors.
l
See section Mechanical specifications to evaluate the grip force for your fingertip design.
Info
You can install custom fingertips directly on the rack or on the fingertip holder.
Tip
Fingertips can be mounted directly on racks or fingertip holders.
Racks
Fingers are installed directly on a rack, and this includes custom fingers. Flat rubber (NBR) overmolded fingers are mounted directly
onto it.