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Robotiq CN C M achine Tending Kit Instruction M anual
8.2. Mechanical specifications
8.2.1. Hand-E Gripper Specifications
Specification
Metric Units
Imperial Units
Gripper opening
0 - 50 mm
0 - 1.97 in.
Maximum recommended payload, Form-fit grasp
5 kg
11 lbs
Maximum recommended payload, Friction grasp
3 kg
6.6 lbs
Gripper height (without fingertips)
100.5 mm
3.94 in
Gripper diameter
75 mm
2.95 in
Gripper weight (including coupling)
1070 g
2.3 lbs
Grip force
20 N- 130 N
4.5 lbf - 27 lbf
Finger speed
20 to 150 mm/ s
0.8 to 5.9 in/ s
Info
All specs are measured with coupling GRP-CPL-062 and aluminum fingertips.
Payload and force
Actuation force model used to calculate the recommended friction payload (W):
For advanced mathematics contents, refer to section
in the Hand-E Instruction Manual. Current section
introduces you to basic or important concepts relative to designing custom fingers.
Warning
You must consider the robot acceleration in your payload calculations.
Robot emergency stops will lead to major deceleration velocities.
Maximum payload/ External force vs. Custom finger design
The maximum payload force recommended depends on the distance on the Z-axis at which the force/ payload (F) is applied when using
custom fingers on the Hand-E gripper.
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Summary of Contents for CNC Machine Tending Kit
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