ROBOTIQ Hand-E C10 - Mechanical Specifications

Robotiq Hand-E C10 Gripper Instruction Manual
5.2. Mechanical Specifications
5.2.1. Hand-E C10 Gripper
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INFO
The data shown in the table below is typical of newly manufactured product, and will vary with product use
and wear.
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Specification Metric Imperial
Stroke 20 mm 0.79 in
Grip force
50 N - 525 N 11.2 lbf - 118 lbf
Max recommended payload
1
10 kg 22 lb
Max friction grip payload
2
3.7 kg 8.1 lb
Maximal robot TCPacceleration
3
5000 mm/s
2
196.85 in/s
2
Weight (with coupling) 1695 g 3.74 lb
Finger speed range 14 - 107 mm/sec 0.55 - 4.2 in/sec
Position repeatability
4
<0.04 mm <0.002 in
Diametral position resolution
5
0.16 mm 0.006 in
Table 5-1: Mechanical specifications of the Hand-E Gripper fitted with coupling GRP-CPL-062 and stepped finger
1
The maximum payload is defined as the maximum load (2 g) that the gripper is able to sustain without mechanical failure. To
reach this max payload, there must be mechanical notches or fingers that engage deeply on the part combined with a high friction
coefficient. This payload needs to be validated based on the information found in subsequent subsections of this manual.
2
The maximum recommended payload in friction grip is defined as the maximum load (2 g) that the gripper oriented vertically
can sustain without dropping the part. This payload has been obtained with the stainless steel stepped finger (friction coefficient
of 0.13).
3
Exceeding this value can lead to reduced life time of the gripper
4
Repeatability is defined as the positional deviation resulting from the average displacement determined when picking an object
using standard stepped finger. For more details, refer to the blog.robotiq.com article on repeatability. Position repeatability varies
depending on product wear and operating conditions.
5
Resolution is the increment modified from a 1 bit difference of position/speed/force request (from 0 to 255).