ROBOTIQ Hand-E C10 Instruction Manual page 103

5.1.4. Stepped Fingers
The contact grip points for Hand-E C10 are its three stepped finger.
Robotiq offers a selection of fingertips (see the Spare Parts, Kits and Accessories section), and users can create custom fingertips.
The figure below represents the fingertip holder, i.e., the permanent, non customizable part of the gripper finger on which the
fingertip must be mounted.
As depicted in the technical dimensions of the Hand-E C10 Gripper, the distance between the base of the Gripper and the part on
which the fingers are mounted is 114.75 mm.
Hand-E C10 is shipped mounted with stepped fingers.
Custom fingertip design must meet the following specifications:
Forces exerted at the end of the fingertips must not exceed the values specified in the Moment and Force Limits for Standard
l
Fingertips section, regardless of the direction.
WARNING
The following limits must be respected at all times.
Calculation of maximum moment and force should include robot acceleration and safety factors.
Refer to the Mechanical Specifications section to evaluate the grip force according to your fingertip design.
l
INFO
You can install custom fingers directly on the rack or on the finger extenders.
Rack
Fingers are installed directly on a rack. You may customize your own fingers to mount them on this part. Stepped fingers are
mounted directly onto it.
Fig. 5-4: Hand-E C10 Cotation Rack
Robotiq Hand-E C10 Gripper Instruction Manual