YASKAWA Smart Series Application Note page 38

6. Determine the physical properties of the Open and Closed states of the Robotiq 2F gripper

These can be found in Section 6.2.3 of the Robotiq 2F Gripper Instruction manual

Convert the Moment of Inertia values in Section 6.2.3 from kg*mm

For the "Picked" state of the gripper, combine the physical properties of both the
gripper and the object that is picked. This can be accomplished using detailed CAD
models or calculated manually. Instructions for how to calculate this manually are
included in Section 8.4.3 of the Yaskawa Controller Instructions Manual.

All physical properties of both tool states should be different unless the workpiece is
very small/light. Mass, Center of Gravity, and Tool Center Point are the most important
to calculate very accurately for optimum performance.
7. Enter these physical properties for both states of the Robotiq gripper into their respective fields
on the details panel for both Tools #10 and #11. Pull up the "Advanced Tool Settings" using the
arrow at the bottom right of the screen to view "Center of Gravity", "Moment of Inertia", and
"Orientation of Tool Tip".
2 2
to kg*m
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