How to calculate the Gripper's vertical motion on 2F85 / 2F140?

Robotiq 2F-85 and 2F-140 adaptive grippers use a circular motion to grip. This article intends to provide a guideline on how to calculate the vertical motion of a 2F adaptive gripper.

Knowledge

See below a graph of the vertical motion of each gripper model depending on the requested position from 0 to 255. The 0mm is relative vertical position when the gripper is fully opened.