Robotiq 2-Finger Adaptive Robot Gripper - 200
Instruction Manual
Robotiq inc. © 2008-2013
6
Figure 1.2 : The
encompassing and parallel grip.
2-Finger Adaptive Robot Gripper 200
–
Note
It is important to note that a parallel grip can only be performed when the fingers touch the object
with 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 before performing an encompassing grip.
Info
Closing or opening is done via "Go to requested position" command and is input to the Gripper.
Whether the fingers close to produce an encompassing or fingertip grip is decided at the
. It will depend on:
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 fingertip grip
based on a part's position and geometry.
The 2-Finger Adaptive Robot Gripper 200 encompassing mechanism can also be locked allowing
–
only parallel movement of the fingertips, the Gripper then acts as a classic parallel claw. Locking the parallel
movement mechanism only requires a 12 mm axle (see
) to be inserted on each finger in the appropriate
for details and Figure 1.3 for location of locking hole.
