ROBOTIQ Hand-E C10 - Page 100

Robotiq Hand-E C10 Gripper Instruction Manual
5.1.2. Center of Mass, Tool Center Point and Moment of Inertia
This table presents the center of mass and TCPof different combination for the Hand-E C10 Gripper.

Product
With finger
extender
Center of mass (mm)
1
TCP (mm)
2
Mass (g)
X Y Z X Y Z
Hand-E C10
Gripper

no
-0.11 -0.21 82.66 0.0 0.0 165.75 1695
yes
0.10
-0.19 87.51 0.0 0.0 173.75 1875.22
Hand-E C10
on 90˚ bracket

no
-39.0 -0.5 78.7 -134.1 0.0 88.0 2010.2
yes
-44.3 -0.4 79.9 -110.1 0.0 88.0 2230.6
1
All mass and center of mass values include coupling, fasteners and stepped fingers.
2
All given TCPs are located at the top of the larger diameter finger step.

This table presents the center of mass and TCP of different combination for the two (2) Hand-E C10 grippers.

Product
With
finger
extender
Center of mass (mm)
1
TCP (mm)
2
Mass (g)
Gripper 1 Gripper 2
X Y Z X Y Z X Y Z
Dual Hand-
E C10
Gripper on
Ybracket

no
0.1 -0.3 79.5 160.2 0.0 144.2
-160.2 0.0 144.2
3702.2
yes
0.1
-0.3 83.2 165.9 0.0 149.9
-165.9 0.0 149.9
4062.2
Dual Hand-
E C10
Gripper on
Xcompact
bracket
no
-0.2 -0.3 92.5 -78.5 -36.2 161.5
78.5 36.2 161.5
3861.3
yes
-0.1 -0.3 96.4 -84.2 -36.2 167.2
84.2 36.2 167.2
4221.3
Dual Hand-E
C10 Gripper
on Y bracket
installed on
90˚ bracket
no
-40.1 0.0 82.2 -112.5 -160.2 88.0
-112.5 160.2 88.0
4089.4
yes
-44.1 0.0 82.6 -118.2 -165.9 88.0
-118.2 165.9 88.0
4449.4
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