ROBOTIQ HAND-E - Page 76

Robotiq Hand-E Gripper - Instruction Manual
Info
The angle to calculate the TCP for Grippers mounted on a dual gripper assembly is as follows:
l Rx = 0
l Ry+/Ry- = 0.7854
l Rz = 0
The coordinate system used to calculate the moment of inertia and center of mass of the Gripper is shown in the figure below.
Fig. 6-12: Inertia matrix for Hand-E
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