Robotiq 3-Finger Adaptive Robot Gripper
Instruction Manual
Robotiq inc. © 2008 - 2014
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Two types of grips occur when closing the 3-Finger Adaptive Robot Gripper on an object: Fingertip Grip or
Encompassing Grip.
The
is when an object is only held by the distal phalanxes. This type of grip is similar to what
Fingertip Grip
is done with conventional industrial parallel grippers. In this situation, the stability of the grip is maintained
because of the friction between the fingers and the object.
The
is when the fingers surround an object. The object is encompassed within the
Encompassing Grip
fingers and the stability of the grip is no longer related to friction. We suggest using the Encompassing Grip
whenever possible to increase grip stability.
Figure 1.5 shows the two types of grips.
Figure 1.5 : The Two Types of Grip, Encompassing and Fingertip Grips.
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 when performing an encompassing grip.
Note that the Encompassing Grip cannot occur in all Operation Modes. For example, in Pinch and Scissor modes, it
is only possible to do Fingertip Gripping. On the other hand, the Fingertip Grip can occur in all four Operation
Modes. Figure 1.6 summarizes the Types of Grip possible for each Operation Mode.
