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How to change the fingers on a 2F Gripper (C4 Version)?

Step‑by‑step guide to replace the fingers on Robotiq’s 2F‑85 and 2F‑140 grippers (C4 version)

Context

This article explains how to safely replace the factory-installed fingers on Robotiq’s 2F‑85 or 2F‑140 grippers (C4 version). You may need to change the fingers due to wear, damage, or to switch between finger styles or sizes depending on your application.

 

Required Tools and Parts

To perform this task, you’ll need:

  • For 2F‑85 Gripper:

    • Replacement finger: AGC‑FIN‑085

    • or Finger replacement kit: AGC‑FIN‑KIT‑85‑V4

  • For 2F‑140 Gripper:

    • Replacement finger: AGC‑FIN‑140‑C4

    • or Finger replacement kit: AGC‑FIN‑KIT‑140‑V4

  • Loctite 248 threadlocker or equivalent grease

  • Torque wrench (optional)

  • Safety goggles (recommended)

 

Finger Replacement Procedure

1. Power off the robot or disconnect the gripper

Ensure the robot and gripper are powered off to avoid unintended movement during maintenance.

 

2. Remove the existing fingers

  • Use a 2 mm Allen key to unscrew the finger bolts.

  • Carefully pull off each finger.

 

 

3. Apply Grease

  • Apply a small amount of Loctite 248 grease to each screw.

  • This ensures vibration resistance without permanent bonding.

 

4. Install the new fingers

  • Position the new fingers in place, aligning with the axis.

  • Insert the screws and tighten them gently.

  • If using a torque wrench, tighten to approximately 2–3 N·m.

 

6. Power on and reinitialize the gripper

  • Turn the robot back on and initialize the gripper in the robot interface.

  • You may also verify that the fingers are properly aligned by closing the gripper to a mid-range position (e.g., 220).

Safety Notes

  • Always wear safety goggles while performing mechanical replacements.

  • Avoid pinching hazards—do not place fingers near the gripper when powered.

  • Do not overtighten screws to prevent damage to the gripper casing.

  • Ensure that both fingers are properly seated and aligned before powering on.

 

Conclusion and Additional Resources

Replacing fingers on your 2F gripper is a quick and simple task that can help extend its functionality or lifespan. Always use the correct replacement parts and verify compatibility with the C4 version of the gripper.