ROBOTIQ 2-Finger 85 - Center of Mass and Moment of Inertia

Robotiq 2-Finger Adaptive Gripper Instruction Manual
Robotiq inc. © 2016 110
6.2.1 Center of mass and moment of inertia
The coordinate system used to calculate the moment of inertia and center of mass of the Gripper is shown in . The center of mass and momentFigure 6.1.1
of inertia are calculated for a configuration where the fingers are fully open.
Here is the approximate position for the center of mass:
Figure 6.2.1.1 : Robotiq 2-Finger center of mass.