2Fgp20 - OnRobot 2FGP20 User Manual

HARDWARE SPECIFICATION

8.3.1. 2FGP20

Coordinate system
* TCP at the end of the fixed finger (marked with the blue dot on the image below).
** Suction cups and two pads on the moving finger as shown in the image below.
TCP [mm] * Center of Gravity [mm] **
X=168 cX=1.6
Y=0 cY=-6
Z=341 cZ=110
Weight **
5.2 kg
11.46 lb
73