ROBOTIQ HAND-E - Page 114

Robotiq Hand-E Gripper Instruction Manual
5.2.4. Moment and Force Limits
The Hand-E Gripper has limits for moment and force values. The maximum moment and force values are independent of the grasp
force the gripper applies on its payload. For payload calculation, see the Payload and Force section.
Warning
Always operate within range.
Calculation of maximum moment and force should include robot acceleration and safety factors.
Parameter Hand-Ewith Aluminum Fingers (without NBR)
F
x
, F
y
, F
z
100 N
M
x
* 2.65 Nm
M
y
* 3.74 Nm
M
z
* 2.00 Nm
*Moments in x and y are calculated from the base of the fingers, as shown in Fig. 5-14
Table 5-2: Maximum moment and force values
Fig. 5-14: Reference frame for maximum force and moment values applied to the fingers
Usage examples with listed limits:
l After picking its normal payload, the robot can use Hand-E to apply up to 100 Nof force in any direction. Applying more than 100 N
can damage the gripper or result in payload loss.
l A gripper can pick up a screwdriver and apply 2 Nm of torque to screw (such a moment would be applied in the Z axis).
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