Robotiq 3-Finger Adaptive Robot Gripper
Instruction Manual
Robotiq inc. © 2008 - 2014
93
Info
The "Actuation Force" is the force that can be applied to an object by the motors of the
Gripper while the "Break Away Force" is the force that the Gripper can sustain.
Because the Gripper is self-locking, the Break Away Force is higher than the Actuation
Force (see Figure 6.2.1).
In Pinch Mode, Fingers B and C will force against Finger A. As Finger A is locked, the
pinch Actuation Force is the sum of the Actuation Force from Fingers B and C, 20+20 =
40 N.
The user of the Gripper must always ensure that the result of the forces against the finger is always lower than the
maximum Break Away Force.
When doing a Fingertip Grip, the weight that can be lifted is defined by :
Where,
F is the force that is applied to the load by the Gripper. Note that at the fingertips, the maximum force that can
be applied is when Fingers B and C force against Finger A. In this case, the force can be up to twice the
Maximum Actuation Force, so 40N.
C
f
is the coefficient of friction between the fingertip pads and the load.
S
f
is a safety factor to be determined by the robot integrator.
