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How Does Force Work on the Gripper?

Understanding how Robotiq Grippers control gripping force and what it means in practice

Context


This article explains how the force setting works on Robotiq Grippers. It clarifies what happens when you adjust the force, how the system interprets it, and why exact force measurement isn't directly available.

Information

  • Force Setting = Current Limit
    The force parameter on a Robotiq Gripper does not directly set a Newton value. Instead, it defines the maximum electrical current allowed to reach the motor.

    • When the current threshold is reached, the gripper stops moving.

    • If the object is detected before the motion completes, an object detection signal is triggered.

  • Force measurement is indirect
    Robotiq grippers do not include built-in force sensors. Instead, the system estimates force indirectly by controlling the electrical current sent to the motor.
    This means the gripper doesn't measure the applied force in Newtons. Rather, it regulates how much force can be exerted, based on internal parameters like current, motion, and resistance.
    As a result, the actual gripping force is an approximation and can vary depending on the setup

  • Why Force Isn’t Linear
    Several parameters affect the actual force experienced at the fingertips:

    • Gripper speed

    • Force setting

    • Type and material of fingertips

    • Object material and shape

    • Gripper inertia and friction

    Because of these variables, the relationship between the force setting and real gripping force is non-linear and context dependent.

  • Example: 2F Gripper Test Results
    In the 2F gripper documentation, Robotiq provides test results showing the effect of different speed and force settings on various objects.
    These tests illustrate how physical conditions can affect final gripping force.
    View Force Graph in 2F Gripper Documentation

 

  • Recommendation for Precision Applications
    If your application requires precise force control, we recommend running physical tests on your actual objects using different speed and force combinations. This is the only reliable way to approximate the applied force under your specific conditions.

Conclusion


Robotiq Grippers regulate force using motor current, not sensors. The applied force is affected by multiple physical variables and cannot be measured directly. For critical applications, test different configurations to achieve the desired result.