Robotiq 2-Finger Adaptive Gripper
Instruction Manual
Robotiq inc. © 2016
7
Object picking :
The 2-Finger Gripper has a single actuator for opening and closing the fingers, the fingers automatically adapt to the shape of the object manipulated.
Fingers will adopt either a parallel grip or encompassing grip as shown in Figure 1.3.
Figure 1.3 : 2-Finger parallel and encompassing grips.
Info
Closing or opening is done via the "Go to requested position" command and is input to the Gripper. Whether the fingers close to produce an
. It will depend on:
encompassing or fingertip grip is decided at the Gripper level automatically
The part's geometry;
The relative position of the part with respect to the Gripper.
In other words, picking the same part could result in either an encompassing or a fingertip grip based on a part's position and geometry.
Note
It is important to note that a fingertip grip can only be performed when the fingers touch the object with the upper section of the distal phalanxes
first. Inversely, for an encompassing grip, the fingers must touch the object with the proximal or the lower section of the distal phalanxes first.
Also, to ensure stability, the object should be held against the Gripper palm while performing an encompassing grip. See Figure 1.4 below for a
visual representation of the parallel and encompassing grip regions on the distal phalanx of the 2-Finger Gripper.
