Robotiq 2F-85/140 gripper

The adaptative robotiq gripper 2F-85 and 2F-140 are shown in the figure below. Their respective specifications canbe found in figure

Figure: Robotiq 2F-85/140 grippers

Table: The mechanical specifications of the Robotiq EPick gripper.

Model	2F-85	2F-140
Weight	900 g	1000 g
Form-fit grip payload	5 kg	2.5 kg
Gripper size	85 mm	140 mm
Grip force	20 to 235 N	10 to 125 N
Closing speed	20 to 150 mm/s	30 to 250 mm/s

Note

Since the arm without end effector has a maximum payload of 3 kg, the real payload of 2F-85 and 2F-140 are 2.1 kg and 2.0 kg respectively.

The gripper equilibrium line is the grasping region that separates the encompassing grasp from the parallel grasp. When grasping an object close enough to the inside (palm) of the gripper, the encompassing grasp will occur (unless the object size or shape is not adequate) and the fingers will close around the object.

If grasped above the equilibrium line, the same object will be picked up in a parallel grasp by the fingertips and the fingers will close with a parallel motion. The figure below shows the encompassing grasp region, the equilibrium line, and the parallel grasp region on the 2-Finger Adaptive Gripper.

Figure: Robotiq 2F-85/140 gripper equilibrium line

Robotiq EPick Vacuum gripper

The Robotiq EPick vacuum gripper is a gripper shown in the figure below. It uses a suction cup to create a vac- uum to grasp an object, without an external air supply, making it suitable for mobile robots. The mechanical specifications are listed in table below.

Figure: Robotiq 2F-85/140 gripper equilibrium line

Table: The mechanical specifications of the Robotiq EPick gripper.

Model	EPick vacuum gripper
Energy source	Electricity
Weight	820 g
Payload	2 kg
Maximum vacuum level	80 %
Maximum vacuum flow	12 L/min
Opertating ambient temperature	5 to 40 °C