OnRobot 2FGP20 User Manual page 63

HARDWARE SPECIFICATION
Illustration Pad position Maximum force (N)
5 400
Custom fingers
The standard fingers provided with the gripper have a height of 220 mm. For workpieces
taller than 220 mm, it is recommended to customize the fingers.
An example is shown in the picture below where the pressure is recommended to be applied
at the bottom of the workpiece. To achieve this, custom longer fingers are used, and the
fingerpads are attached horizontally. This is the best way to get a firm grip.
By increasing the finger height, the allowed torque might be reduced as shown in the
Moments in the finger base section.
Another example is shown in the image below with custom fingers and fingerpads that are
made to achieve a form fit. These kinds of fingers and fingerpads are helpful with KLT boxes.
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