External Tool Finishing Kit - Instruction Manual
5.2. Mechanical specifications of the External Tool Finishing Kit
5.2.1. Specifications of the FT Sensor on CB-Series robots
Specifications
Value
Approximate weight
300 g
Overload capacity
A combined load exceeding 500% of the measuring range will
permanently damage the Force Torque Sensor (Fx/ 300 + Fy/ 300 +
Fz/ 300 + Mx/ 30 + My/ 30 + Mz/ 30 < 500%)
Outside diameter
75 mm
Thickness
37.5 mm
Stiffness
F
x
, F
y
35 X 10
6
N/ m
F
z
30 X 10
6
N/ m
M
x
, M
y
10,000 Nm/ rad
M
z
20,000 Nm/ rad
5.2.2. Specifications of the Hand-EGripper
Specifications
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
