Rg6 - OnRobot HEX-E QC User Manual

HARDWARE SPECIFICATION
NOTE:
During the fingertip design, the following shall be considered to maintain
optimal performance:
Clear optical path for the proximity sensors
Protect the proximity sensors from direct sunlight or strong light source
Avoid dust and liquid penetration
WARNING:
The proximity sensors are sensitive parts and shall be protected against:
Direct strong light (such as directional laser sources)
Direct high temperature
Mechanical contacts in any case
Expose to any liquid or fine conductive dust
NOTE:
Please clean regularly the proximity sensor surface with low pressure
compressed air (<5 bar) from a 5 cm distance. For stronger contamination use
isopropyl alcohol with a soft cotton swab to keep it clean.
Finger Thickness
The default fingertips are considered while the finger thickness has been set and could not
be changed in the software. In case when custom fingertips are used, the user should
manually compensate for the difference in the finger thickness.

8.1.7. RG6

General Properties
Payload Force Fit
Payload Form Fit
Total stroke (adjustable)
Finger position resolution
184
Minimum Typical
- -
- -
- -
- -
0 -
0 -
- 0.1
- 0.004
Maximum Unit
6 [kg]
13.2 [lb]
10 [kg]
22.04 [lb]
160 [mm]
6.3 [inch]
- [mm]
- [inch]