Schunk gripper WSG32#
Warning
Since September 2019 the Schunk WSG32 gripper is no longer available as the manufacturer has discountinued this product. Documentation about this end-effector is kept in this handbook as reference for customers already owning it.
The Schunk gripper WSG32 is an industrial parallel gripper that has been electro-mechanically integrated in TIAGo by PAL Robotics. The gripper has been integrated in the CAN bus of the robot’s arm. The integrated version of the gripper is shown in figure below. The gripper contains a single motor and is compatible with two different commercial fingers:
ABF WSG32/50-DV: with integrated force sensing
ABF WSG32/50-GV: no force sensors integrated
Furthermore, users can design their own fingers.
Figure: Schunk WSG32 gripper#
Model |
WSG 032-068-C |
Weight |
550 g |
Payload |
2 kg |
Interchangeable fingers |
Yes |
Stroke per jaw |
34 mm |
Min. gripping force |
5 N |
Permanent gripping force (100% continuous duty) |
50 N |
Max. speed |
400 mm/s |