ROBOTIQ HAND-E - Page 113

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 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.