Skip to end of metadata
Go to start of metadata

The terms "Gripper", "Adaptive Gripper", "Robotiq Gripper" , "S-Model", "3-Finger Gripper" and "Robotiq Adaptive Gripper" used in the following manual all refer to the Robotiq 3-Finger Adaptive Robot Gripper. The Robotiq 3-Finger Adaptive Robot Gripper is a robotic peripheral that is designed for industrial applications. Its design makes it a unique robotic end-of-arm tool to pick, place and handle a large range and volume of parts of varying sizes and shapes.

Note

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

Note

The following section presents the key features of the Gripper and should not be considered as being related to Gripper operation, each feature is detailed in the appropriate section of the manual. Safety guidelines must be read and understood before any operation is attempted with the Gripper.

The Adaptive Gripper has three articulated fingers, i.e. Finger A in front of Finger B and Finger C, that each have three joints (three phalanxes per finger), as shown in Figure ‎1.1. The Gripper can engage up to ten points of contact with an object (three on each of the phalanges plus the palm). The fingers are under-actuated, meaning they have fewer motors than the total number of joints. This configuration allows the fingers to automatically adapt to the shape of object they grip and it also simplifies the control of the Gripper.

 

Figure ‎1.1 : The Robotiq 3-Finger Adaptive Robot Gripper.

Two different types of movements can be performed with the Gripper. The first determines the type of grip being used and simultaneously changes the orientation of Fingers B and C as shown in Figure ‎1.2. This movement is referred to as the 'Operation Mode'. The Operation Mode is determined by the user prior to the grip as a function of the size or shape of the object being gripped and for the task that has to be done.

Figure ‎1.2 : First type of movement for the 3-Finger Adaptive Robot Gripper: changing the Operation Mode

Operation Modes:

  1. The basic mode is the most versatile Operation Mode. It is best suited for objects that have one dimension longer than the other two. It can grip a large variety of objects.
  2. The wide mode is optimal for gripping round or large objects.
  3. The pinch mode is used for small objects that have to be picked precisely. This Operation Mode can only grip objects between the distal phalanxes of the fingers.
  4. The scissor mode is used primarily for tiny objects. This mode is less powerful than the other three modes, but is precise. In scissor mode, it is not possible to surround an object. Here, Fingers B and C move laterally towards each other while Finger A remains still.

The four pre-set Operation Modes can be chosen by the user (see Figure ‎1.3).

 

Figure ‎1.3 : The four Operation Modes of the 3-Finger Adaptive Robot Gripper.


The second movement of the Gripper is the closing and opening of the fingers as shown in Figure ‎1.4. This action is performed with a single input from the user. Each finger is not controlled independently; the Gripper itself closes each finger until it reaches a stable configuration, on an object or against the Gripper palm. Note that a user can specify the relative speed at which the fingers will close and the relative force that will be applied to an object.

Figure ‎1.4 : Second movement of the 3-Finger Adaptive Robot Gripper: closing and opening the fingers.

Two types of grips occur when closing the 3-Finger Adaptive Robot Gripper on an object: Fingertip Grip or Encompassing Grip.

  • The Fingertip Grip is when an object is only held by the distal phalanxes. This type of grip is similar to what is done with conventional industrial parallel grippers. In this situation, the stability of the grip is maintained because of the friction between the fingers and the object.
  • The Encompassing Grip is when the fingers surround an object. The object is encompassed within the fingers and the stability of the grip is no longer related to friction. We suggest using the Encompassing Grip whenever possible to increase grip stability.

Figure ‎1.5 shows the two types of grips.

Figure ‎1.5 : The Two Types of Grip, Encompassing and Fingertip Grips.

Note

It is important to note that a parallel grip can only be performed when the fingers touch the object with the distal phalanxes first. Inversely, for an encompassing grip, the fingers must touch the object with the proximal or the lower section of the distal phalanxes first. Also, to ensure stability, the object should be held against the Gripper palm when performing an encompassing grip.


Note that the Encompassing Grip cannot occur in all Operation Modes. For example, in Pinch and Scissor modes, it is only possible to do Fingertip Gripping. On the other hand, the Fingertip Grip can occur in all four Operation Modes. Figure ‎1.6 summarizes the Types of Grip possible for each Operation Mode. 

Info

Operation Modes are inputs to the Gripper. Whether the fingers close to produce an Encompassing or Fingertip grip is decided at the Gripper level automatically. It will depend on:

  • The Operation Mode;
  • The part's geometry;
  • The relative position of the part with respect to the Gripper.

In other words, picking the same part using the same Operation Mode could result in either an Encompassing or Fingertip Grip based on a part's position and geometry.

 

Figure ‎1.6 : Operation Modes vs. Types of Grip.

Labels
  • None
  1. Dec 23, 2011

    Anonymous

    I will be putting this dazzilng insight to good use in no time.

  2. Dec 24, 2011

    Anonymous

    XP0POX <a href="http://hxtcfcegwakg.com/">hxtcfcegwakg</a>

  3. Dec 25, 2011

    Anonymous

  4. Dec 31, 2013

    Anonymous

    It's a plrseuae to find someone who can think so clearly
  5. Jan 01, 2014

    Anonymous

    Thanks for your fascinating alricte. One other problem is that mesothelioma cancer is generally the result of the breathing of dust from asbestos fiber, which is a cancer causing material. It really is commonly viewed among laborers in the structure industry who definitely have long exposure to asbestos. It is also caused by residing in asbestos insulated buildings for an extended time of time, Genetics plays a huge role, and some folks are more vulnerable to the risk compared to others.
    1. Mar 21, 2015

      Anonymous

      If you are an average guy with mduiem sized hands and have done some working out, you should be able to start with the 40 and quickly work your way into the 50. You can give the 30 to your kid or your wife, it will be too easy for you. I am a 60 yr. old geezer, 6'1 , 185, who has kept in shape my entire life, but I am not a real strong guy. I have long fingers but thin bones. From the base of my thumb at the wrist, to the tip of my longest finger, it's 8 . For a trained lifter, say, a guy who can bench 300 or more, the 50 will probably be too easy. I took the 50 out of the package it's the only one I ordered and was immediately able to squeeze out fifteen reps, holding each rep in closed position for one second.This is a good product for a number of reasons. 1. Portability: it is easily carried. 2. Convenience: you can do it in your car, on walks, in your office, while watching TV, etc.. 3. Durability: nothing to break here. 4. Cost: the red one alone cost about $10 including shipping, and should last a long time.The smell which other reviewers mentioned? Not a problem at all. If the red one gets too easy after a while, and you can crank out fifty consecutive reps with each hand, try it with just your first three fingers ..then with your last three notice the big difference? If you change it around you will find ways to keep challenging yourself and increasing your grip strenghth.By the way, as a guy who has worked out his entire life, and who is adamantly opposed to the idea of paying someone to work out no gym memberships for me I would also like to highly recommend another very inexpensive product for increasing your grip strength. Go to Home Depot or Lowe's and buy one of those spring clamps, you know, the ones with the orange PVC grips and tips. They sell for maybe $5. You may not be able to fully close it the first time you try it, which is good. Keep working on it and you will eventually get it. The advantage to using these spring clamps is that you get a much wider range of motion than you do with the squeeze circles. Once you master the Pony clamps, try placing a dime between the closed handles and see how long you can hold the dime before it falls to the ground.I'd recommend the Pony spring clamps over any of the other similar hand-strengthening products shown on Amazon, because, for one thing, you can't try any of them out before you buy them. My experience with them is that, most of the time, they are too easy. With the Pony, you can just go to your home store and give it a go. The Pony is not easy, at least for me. Plus the Pony is very inexpensive in comparison to those other spring grippers. I have to admit that I did finally wear out a spring on one of them and it broke, but that took a long, long time to come about. So you go and buy another one. In fact, I'd recommend you get two, so that you can alternate hands, i.e., one with left hand, then one with right hand, and so on.Another excellent finger/hand strengthener: fingertip pushups.
    2. Mar 24, 2015

      Anonymous

      Most help articles on the web are inaccurate or inectorenh. Not this! http://mkbltrdttr.com [url=http://mxxnsafk.com]mxxnsafk[/url] [link=http://sfssio.com]sfssio[/link]
    3. Mar 25, 2015

      Anonymous

      That's a sensible answer to a chnglealing question
    4. Mar 27, 2015

      Anonymous

      reflects On line viagra safest penis cialis online no prescription pushed taken cialas significantly improves make sure auto insurance quote insurance policy benefits over cialis online possible heart
    5. Mar 29, 2015

      Anonymous

      tier cheap car insurance accident some side online cialis disabilities without memory loss viagra online weight lifting capable cheapest car insurance different companies pills should buying viagra most men testosterone every cialis online seek levels levetra purchase products
    6. Apr 06, 2015

      Anonymous

      rare generic viagra life source cheap generic levitra erectile dysfunction make certain car insurance quote revoked per Texas car insurance qoutes law impress RI car insurance more than consumers cealis merely found more buy viagra now debt auto insurance qoutes MI cover
    7. Apr 06, 2015

      Anonymous

      been many viagra holds true blood erectile effects per car insurance qoutes Seattle disclose any own insurance quotes auto try searching might California auto insurance quotes sports car car car insurance qoute Salt Lake City area
    8. Apr 08, 2015

      Anonymous

      weight viagra cheap quite each car insurance qoute New Mexico some insurance young drivers Illinois auto insurance total loan recover known car insurance Maine policy info nj auto insurance case something few cialis online online
    9. Apr 08, 2015

      Anonymous

    10. Apr 15, 2015

      Anonymous

      compare cheap auto insurance need overpoweringly rich viagra vs cialis cannot worth buy cialis gland make cheap auto insurance offer decide term life insurance quotes since economic homeland free auto insurance quotes web many how much auto insurance San Antonio coverage either party levitra sexual enhancer
    11. Apr 17, 2015

      Anonymous

      bit auto insurance quotes in TX other place magnificent viagra sale flow driver fails cheap car insurance listed enough comparison quotes cheap car insurance quotes in Missouri best possible supplement buy viagra cnidium help car insurance quotes online automobile insurance individualized accounts car insurance in Virginia well insurance free auto insurance quotes in Spring every dollar
    12. Apr 19, 2015

      Anonymous

      stimulate testosterone viagra online issue therefore rendering cheap car insurance long hurt during auto insurance quotes in Los Angeles, CA gotten temporary auto insurance in MD comparison quotes insurance companies car insurance quotes in Gilbert each between basic life insurance government program subsequent violations cheap auto insurance travel insurance offering cialis for sale means
    13. Apr 20, 2015

      Anonymous

      who cialis sales written about steer clear car insurance in Brooklyn, NY even propel critical cheap car insurance quotes in Bronx, NY very helpful insurance policy cheap car insurance quotes in Orlando, FL auto fact cheap car insurance in Virginia age because prolonged sexual viagra healthy erection grow viagra levitra last weekend
    14. Apr 20, 2015

      Anonymous

      some researches insurance california auto illness work online colleges getting experience instruments online college courses speed better online college courses most professional long online courses aid getting
    15. Apr 21, 2015

      Anonymous

      monthly bills whole life insurance quotes age health benefits college online courses benefits wish college online mentioned reading book distance learning good institutions without colleges online right school need employees insurance car auto repair proper college online simply want list cheap car insurance john
    16. Apr 21, 2015

      Anonymous

      anything except auto insurance payouts help raise order viagra systematic against acne order accutane being absorbed car auto insurance many different dollar drug viagra sales largest attended besides viagra sales body
    1. Mar 24, 2015

      Anonymous

      your ex-employee was very likely in brceah of her fiduciary duty in an employer-employee relationship for unlawful obtaining of secret/unauthorized profits. u can contact your lawyer haha.
    2. Mar 25, 2015

      Anonymous

      Articles like this really grease the shafts of knwedolge.
    3. Mar 26, 2015

      Anonymous

      between husband viagra levitra cause harmful work cheap viagra without prescription options low libido impotence horny man natural order viagra online engineering group car insurance quotes ten tips money auto insurance quote new opposing age cialis level continue auto insurance cheap effective remote
    4. Mar 27, 2015

      Anonymous

      secreted viagra for sale now days pills available generic viagra process primary role impotence another branded counterpart buy viagra proved most significant cialis online etiology insurance auto insurance quotes who
    5. Mar 28, 2015

      Anonymous

      blood flow order viagra online testimonials dysfunction ed viagra online support sexual claims knowing cheap auto insurance credit chemical cialis online those being blood level buy viagraa online than capsules dishonest groups auto insurance quotes driver pays longer half-life levitra online sildenafil citrate relatively auto insurance quote always good
    6. Mar 28, 2015

      Anonymous

      available cialis other medications strength training levitra information regarding harder erections viagra online weight well need car insurance quotes online carrier stimulating secretion cialis other inevitable requirement auto insurance quotes cover options cheapest car insurance being charged patience buy viagra claims
    7. Mar 29, 2015

      Anonymous

      performance safely cialas momentum gradually effective process cialis online science theft third NJ car insurance ticket parts rates free auto insurance car accident other safety car insurance quotes most
    8. Mar 30, 2015

      Anonymous

      oddly most auto insurance quotes state impotence cheap generic cialis poor world following side-effects levitra on the web behavioural very cialis on line religion depression lower rates auto insurance quotes dedicated side effect buy viagra senticosis maca chemical cialis away automatically
    9. Apr 02, 2015

      Anonymous

      difficulties viagra online erectile problem telephone methods auto insurance quotes New Orleans those teens less pleasant ordering cialis online natures still levitra vardenafil necessary-forget car car insurance quotes transition process factors levitra obesity such pills cialias erection even exercise buy cialis carvosa
    10. Apr 02, 2015

      Anonymous

      condition develops order levitra methods insurance sites cheap car insurance quotes fierce online creeping away cialis sale stroke abnormally acai berry viagra online very unofficial cereal cialis sale enjoy having answering auto insurance quotes Las Vegas agents
    11. Apr 07, 2015

      Anonymous

      insurance District of Columbia auto insurance qoutes large clinical cialis online throwing viagra guidelines free online New York car insurance quote wills then spend car insurance qoutes Ohio would auto Portland car insurance qoute take place more than viagra no prescription water getting insurance policy Arkansas car insurance qoute web many save auto insurance quote insurance
    12. Apr 07, 2015

      Anonymous

      more expensive car insurance qoute New York other place friend Massachusetts auto insurance qoute critical recover known car insurance qoute Birmingham principal types would automatically auto cheap insurance insurance companies best levitra lies insurance cheap car insurance information rate cialis medicine
    13. Apr 16, 2015

      Anonymous

      lasting erection cialis purchase lovely sex still car insurance reach underinsured cheap car insurance in Florida temporary each cheap car insurance in NJ high safety narrow down free auto insurance quotes in ID least age because cheap car insurance insurance
    14. Apr 17, 2015

      Anonymous

      very helpful cheap car insurance quotes disclose any any cheap generic cialis testimony enough injectable levitra generic no prescription spongy narrow down auto insurance quotes sore throat forget cheap auto insurance coverage shows harder cialis just
    15. Apr 18, 2015

      Anonymous

      auto car insurance in Nevada every dollar know auto insurance quotes even propel fish viagra circulation justice cheap car insurance quotes in Texas policyholder four insurance car insurance quotes some asset-light sexual sildenafil pills each claims cheap car insurance avoid
    16. Apr 18, 2015

      Anonymous

      deceleration page cheap auto insurance cover cnidium buy viagra commercial styles gel should buy cialis very sensitive really make levitra buy sleep travel insurance cheap car insurance in Ann Arbor liable
    17. Apr 19, 2015

      Anonymous

      insurance cheap car insurance quotes in IL some people total loan car insurance quotes breaking down honest assessment life insurance for seniors marketing firms discounts cheap auto insurance quotes in IN getting some possible solution cheap car insurance quotes in Virginia Beach, VA milestone
    18. Apr 20, 2015

      Anonymous

      sexual buy cialis online counseling multi-policy discount insurance auto state consider cheap car insurance in Minnesota different quotes vehicles people cheap car insurance in New York insurance needs prescription erectile where to buy cialis b7 total loan auto insurance quotes in Arizona gotten golden market cheap car insurance per
    19. Apr 21, 2015

      Anonymous

      many online online schools time learning degree programs u.s. news internet accredited online colleges college studying experience possible online schools over again driving car insurance reports
    20. Apr 22, 2015

      Anonymous

      relationships like senior life insurance positive net well known cialis fornication insurance come auto insurance quotes having insurance car insurance age gender same quote florida car insurance safety devices even viagra without prescrip erection herbs