Tool Center Point And Center Of Mass - ROBOTIQ POWERPICK20 Original Notice

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5.3.Tool Center Point and Center of Mass

Hollow Off-
Configuration
PowerPick - Instruction Manual
Suction Cup
set Link Bracket
0 mm Small
0 mm Large
200 mm Small
200 mm Large
0 mm Small
0 mm Large
200 mm Small
Center of mass (mm)
Wrist exten-
sion
X
No -6
No -6
No 133
No 137
Yes -5
Yes -5
Yes 112
TCP (mm)
Y Z X
0 57 0
0 56 0
0 84 200
0 85 200
0 122 0
0 123 0
0 152 200
Mass
(g)
Y Z
0 117 1805
0 117 1963
0 168 2429
0 168 2587
0 217 2271
0 217 2428
0 268 2895