6. Specifications

Info

The following manual uses the metric system, unless specified, all dimensions are in millimeters.

The following sub-sections provide data on the various specifications for Hand-E.

Section 6.1: technical dimensions of Hand-E:
- Dimensions for custom fingertips
- Dimensions of available fingertips
Section 6.2: mechanical specifications
Section 6.3: electrical specifications

6.1. Technical dimensions

The figure below represents the Gripper's dimensions with axes X, Y, Z, and origin referenced for finger motion.

Info

All technical drawings in the present section are shown with the basic aluminum fingers.

Fig. 6-1: General dimensions of Hand-E (open)

6.1.1. Couplings

Hand-E requires a coupling provided by Robotiq to operate.

The coupling is mandatory since it integrates electronics and electrical contacts.

Blank coupling

Below are the dimensions of the blank coupling, AGC-CPL-BLANK-002 (please refer to the Spare Parts, Kits and Accessories section), available to create a custom bolt pattern. The blue section can be fully customized (holes can be placed in any part of this section) while the grey section can only be worked to a depth of 3 mm.

Fig. 6-2: Workable area dimensions of blank coupling AGC-CPL-BLANK-002

Coupling for ISO 9409-1-50-4-M6

Bolt pattern for coupling GRP-CPL-062 (please refer to the Spare Parts, Kits and Accessories section) is compatible with:

50 mm pitch circle diameter:
- (4) M6-1.0 low head socket cap screw clearance
- (1) M6 indexing pin
- ISO 9409-1 standard 50-4-M6

Fig. 6-3: Coupling for ISO 9409-1-50-4-M6.

Coupling for ISO 9409-1-31.5-4-M5

Bolt pattern for coupling AGC-CPL-063-002 (please refer to the Spare Parts, Kits and Accessories section) is compatible with:

31.5 mm pitch circle diameter:
- (4) M5-0.8 low head socket cap screw clearance
- (1) M5 indexing pin
- ISO 9409-1 standard 31.5-4-M5

Fig. 6-4: Coupling for ISO 9409-1-31.5-4-M5.

Coupling for ISO 9409-1-40-4-M6

Bolt pattern for coupling AGC-CPL-064-002 (please refer to the Spare Parts, Kits and Accessories section) is compatible with:

40 mm pitch circle diameter:
- (4) M6-1.0 low head socket cap screw clearance
- (1) M6 indexing pin
- ISO 9409-1 standard 40-4-M6

Fig. 6-5: Coupling for ISO 9409-1-40-4-M6.

Coupling for PCD 56 with 8 x M4

Bolt pattern for coupling AGC-CPL-065-002 (please refer to the Spare Parts, Kits and Accessories section) is compatible with:

56 mm pitch circle diameter:
- (8) M4-0.7 low head socket cap screw clearance
- (1) M4 indexing pin
- 62 mm diameter internal insert

Fig. 6-6: Coupling for PCD 56 mm with 8 x M4 clearance.

Info

Although coupling AGC-CPL-065-002 is compatible with 8 x M4 threads on a 56 mm PCD it uses only 6 of the 8 normally present holes.

Coupling for PCD 56 with 6 x M4

Bolt pattern for coupling AGC-CPL-066-002 (please refer to the Spare Parts, Kits and Accessories section) is compatible with:

56 mm pitch circle diameter:
- (6) M4-0.7 low head socket cap screw clearance
- (1) M6 indexing pin
- 42 mm diameter external insert

Fig. 6-7: Coupling for PCD 56 mm with 6 x M4 clearance.

Coupling for PCD 60 with 4 x M5

Bolt pattern for coupling AGC-CPL-067-002 (please refer to the Spare Parts, Kits and Accessories section) is compatible with:

60 mm pitch circle diameter:
- (4) M5-0.8 low head socket cap screw clearance
- (1) M5 indexing pin
- 34 mm diameter external insert

Fig. 6-8: Coupling for PCD 60 mm with 4 x M5 clearance.

Coupling for PCD 63 with 6 x M6

Bolt pattern for coupling AGC-CPL-068-002 (please refer to the Spare Parts, Kits and Accessories section) is compatible with:

63 mm pitch circle diameter:
- (6) M6-1.0 low head socket cap screw clearance
- (2) M6 indexing pins

Fig. 6-9: Coupling for PCD 63 mm with 6 x M6 clearance.

6.1.2. Fingers and fingertips

The contact grip points for Hand-E are its two fingertip pads.

Fingertip options are supplied by Robotiq (please refer to the Spare Parts, Kits and Accessories section). Users can create their own fingertips from scratch. The figure below represents the fingertip holder, the permanent, non customizable part of the Gripper finger on which the fingertip must be mounted.

Custom fingertip design must meet the following specifications:

Forces exerted at the end of the fingertips must not exceed 100 N , regardless of the direction. Please refer to the Moment and force limits section for more details.

Warning

The following limits must be respected at all times.
Calculation of maximum moment and force should include robot acceleration and safety factors.

Refer to Mechanical specifications section to evaluate the grip force according to your fingertip design.

Info

You can install custom fingertips directly on the rack or on the fingertip holder.

Tip

Fingertips can be mounted directly on the racks or on fingertip holders.

6.1.2.1. Rack

A finger is installed directly on a rack. You may customize your own fingers that will mount on this part. The basic aluminum fingers (HND-FIN-ALU-KIT) are mounted directly onto it.

Fig. 6-10: Racks in rack housing

6.1.2.2. Basic aluminum finger

The figure below represents the basic aluminum fingertip (HND-FIN-ALU-KIT); please refer to the Spare Parts, Kits and Accessories section. This finger allows a 0-50 mm stroke.

Fig. 6-11: Aluminum finger

6.1.2.3. Fingertip holder

In order to install fingertips on the racks, fingertip holders must be used (HND-TIP-HLD-KIT); please refer to the Spare Parts, Kits and Accessories section. You may customize fingertips to install directly on those. Both the flat silicone (HND-TIP-SLC-KIT) and V-groove fingertips , (HND-TIP-VGR-KIT) install on the fingertip holders.

Fig. 6-12: Fingertip holder

6.1.2.4. Flat silicone fingertip

The figure below represents a flat silicone fingertip (HND-TIP-SLC-KIT); please refer to the Spare Parts, Kits and Accessories section. This fingertip has a flat silicone surface with an optimal friction coefficient for picking parts. This fingertip must be mounted on a rack using the fingertip holder (HND-TIP-HLD-KIT).

Fig. 6-13: Flat silicone fingertip

6.1.2.5. Grooved fingertip

The figure below the available grooved fingertip (HND-TIP-VGR-KIT); please refer to the Spare Parts, Kits and Accessories section. This fingertip has a grooved surface with an optimal shape for picking cylindrical parts (by its horizontal and vertical grooves). This fingertip must be mounted on the racks using the fingertip holder (HND-TIP-HLD-KIT).

Fig. 6-14: Grooved fingertip

6.2. Mechanical specifications

6.2.1. Specifications:

Specification	Metric Units	Imperial Units
Gripper opening	0 - 50 mm	0 - 1.97 in.
Maximum recommended payload	5 kg	11 lbs
Maximum recommended payload, friction grip	3.3 kg	6.6 lbs
Gripper height (without fingertips)	100.5 mm	3.94 in
Gripper diameter	75 mm	2.95 in
Gripper weight (including coupling)	1070 g	2.3 lbs
Grip force	20 - 130 N	4.5 - 27 lbf
Finger speed	20 to 150 mm/s	0.8 to 5.9 in/s

Info

All specs are measured with coupling GRP-CPL-062 and basic aluminum fingertips (HND-FIN-ALU-KIT).

6.2.1.1. Payload and force

Actuation force model used to calculate the recommended friction payload (W):

where:

F is the force that is applied to the load by the Gripper.
Cf is the friction coefficient between the fingertip and the part load.
Sf is a safety factor to be determined by the robot integrator.

Fig. 6-15: Actuation force on the fingertip of the Hand-E Gripper

Info

The Actuation Force is the force that can be applied to an object by the motor of the Gripper.
The Gripper has a power off brake. This means that when no power goes to the Gripper, the fingers are blocked.

Info

For example, if the silicone fingertips (HND-TIP-SLC-KIT) are used to lift a lubricated steel part (machine tending with cutting oils), the friction coefficient would be 0.3 (tested static coefficient of friction).

Maximum weight with a safety factor of 2.4 and maximum force would be:

W = (2 x 130 N x 0.3) / 2.4 = 32.5 N

This calculation means that a 3.3 kg part will be held by the Gripper when not moving (standing still). When accelerating, the payload will decrease.

The biggest factor in such calculations will always be the friction coefficient, we recommend testing the coefficient.

Warning

You must consider the robot acceleration in your payload calculations.
Robot emergency stops will lead to major deceleration velocities.

Maximum payload/External force vs. Custom finger design

The maximum payload force recommended depends on the distance on the Z-axis at which the force/payload (F) is applied when using custom fingers on the Hand-E Gripper.

Fig. 6-16: Z-axis offset at which force/payload is applied (tip of the finger, in the middle of the inner surface)

Fig. 6-17: Scheme Illustrating Maximum Payload/External Force vs. Z-Offset on Custom finger

The blue curve in the graph represents the maximum force/payload (F) recommended at given Z offset for a custom finger design mounted directly on the rack with two (2) M3 screws.
The red curve in the graph represents the maximum force/payload (F) recommended at given Z offset for a custom finger design mountend on a fingertip holder with two (2) M3 screws.
The yellow curve in the graph represents the maximum force/payload (F) recommended at given Z offset for a custom finger design mounted directly on the rack with three (3) M3 screws.

Info

The data is calculated at the resulting position of the force applied, based on the strength of the M3 screws used. The maximum grasping force is included in the calculation; it represents the maximum force that can be added to the finger (payload force + external force).

Warning

Fatigue stress has not been taken into consideration in the calculations.
Robot acceleration and safety factor have not been taken into consideration in the calculations.

Caution

In order to address other custom specific cases with regards to your own application, the main item to address is the strength of the screws used for mounting the fingers.

Friction grasp and form-fit grasp

Maximum payload by grasp type

Grasp Type	Maximum Payload
Friction grasp	3 kg
Form-fit grasp	5 kg

6.2.2. Center of mass and tool center point

Couplings are included when Grippers are not mounted on the Camera. Dual Gripper adapter plates are included where appropriate.

Info

The angle to calculate the TCP for Grippers mounted on a dual gripper assembly is as follows:

Rx = 0
Ry+/Ry- = 0.7854
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. 6-18: Inertia matrix for Hand-E

6.2.3. 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 applied by the Gripper on its payload. For payload calculation, please refer to the Payload and force section.

Warning

The following limits must be respected at all times.
Calculation of maximum moment and force should include robot acceleration and safety factors.

Parameter	Hand-E with Basic Aluminum Fingers
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 the figure below.

Fig. 6-19: Reference frame for maximum force and moment values applied to the fingers

Usage examples with listed limits:

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.
The Gripper can pick a screwdriver and apply 2 Nm of torque to screw (such a moment would be applied in the Z axis).

6.3. Electrical specifications

SPECIFICATION	VALUE
Operating supply voltage	24 V DC ±10%
Quiescent power (minimum power consumption)	1 W
Peak current	1.1 A