2F-85 & 2F-140 - Instruction Manual
5.2.2.Equilibrium Line
Equilibrium line position (explained in the General Presentation section) isdetailed in the figure below, where:
l
q isthe opening angle between the gripper proximal bar and center line
l
D isthe distance between the bottom of the fingertips and the equilibrium line as seen on the Z axis in Fig. 1-5.
Fig. 5-12: Position of the Gripper equilibrium line according to the opening angle for 2-Finger 85 and 2-Finger 140 options.
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