2F-85 & 2F-140 - Instruction Manual
5.2.3.Center of mass, tool center point and moment of inertia
When grippers are not mounted on the Wrist Camera, a coupling isincluded. A dual gripper adapter plate isincluded when
required.
Products
Center of mass(mm) TCP(mm)
Mass
(g)
X Y Z X Y Z
2F-85 0.0 0.0 60.0 0.0 0.0 174.0 921
2F-140 0.0 0.0 75.5 0.0 0.0 244.0 1013
Info
For TCP and center of massof the 2F-85 or the 2F-140 used in combination with other Robotiq products, please consult
the specific table provided on our support website.
Info
The angle to calculate the TCPfor grippers mounted on a dual gripper assembly isas follows:
l
Rx = 0
l
Ry+/Ry- = 0.7854
l
Rz= 0
The moment of inertia are calculated for a configuration where the fingers are fully open. Here is the approximate moment of
inertia matrix for the gripper:
Fig. 5-13: Inertia matrix for Robotiq 2-Finger .
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