ROBOTIQ HAND-E - Page 89

Robotiq Hand-E Gripper Instruction Manual
5.2.3. Center of Mass, Tool Center Point and Moment of Inertia
This table presents the center of mass and TCPof the Hand-E Gripper.
Product
Center of mass (mm)
TCP (mm)
Mass (g)
X Y Z X Y Z
Hand-E Gripper 0.0 0.0 59.0 0.0 0.0 157.0 1068
Info
For TCPand center of mass of the Hand-E Gripper used in combination with other Robotiq products, please consult the
specific table provided on our support website.
Info
The angle to calculate the TCP for grippers mounted on a dual gripper assembly is as follows:
l Rx1 = 0
l Ry1 = 0.7854
l Rz1 = 0
l Rx2 = 1.22
l Ry2 = 0
l Rz2 = -2.887
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 Hand-E.
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