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How to replace the gear of the 3F ?

Step-by-step guide for replacing finger gears to maintain optimal performance

Context

After extended use—typically around 2 million cycles or one year—your Robotiq 3‑Finger (3F) Gripper may require gear replacement. This article explains how to safely replace the finger gears to restore optimal functionality. Gear replacement is also recommended if a finger moves freely without resistance, indicating a worn or broken gear.

Use only official Robotiq parts (SKU: AGS‑GEAR‑001) and follow this procedure carefully to avoid damage.

 

Procedure

Required tools:
● Phillips screwdriver
● Loctite 263 heavy strength (with new logo)
● Loctite 220 low strength
● Retaining ring pliers (#582225A32 from McMaster Carr)
● Any key that fits in the finger A base holes

 

Required parts:
● Grease syringe (from Robotiq)
● Finger gear (from Robotiq)
● 3/16 retaining rings (C-clip)
● 4-40 X 5/16 FHMS

 

Finger gears replacement:

Step 1: Open Robotiq S-Model fingers to wide mode. 

  • Using the Robotiq User Interface, set your Gripper to auto-release when the Gripper is fully open, turn o- your Gripper and unplug. 

Step 2: Remove the fingers. 

Removing fingers B & C: 

  • Using the retaining ring pliers remove the interior SH shaft rings from the proximal axis at the base of the finger (leave the other ring in place). 
  • Remove the proximal axis by hand
  

 

Removing finger A (thumb): 

  • Using the phillips screwdriver, remove the two 4-40 X 5/16 Flat Head Machine Screws on the palm pad (present on each side of the finger). 
  • Remove the proximal axis by pushing it with any key that fits in, the finger will be free floating.

 

Step 3: Remove the finger gears. 

  • For each finger, using the phillips screwdriver, unscrew the three 4-40 X 5/16 Flat Head Machine Screws holding the bronze gear. 
  • Remove the gear, discard the screws, they must be replaced.

 

Step 4: Replace with the new gear (on each finger). 

  • Apply Loctite 263 (new formula) to the new 4-40 X 5/16 screws’ thread and to the new gear thread. 
  • Screw the three 4-40 screws with a torque of about 5 pound-inch (0.6 N-m). 
  • Apply grease to the gear.

 

Step 5: Replace fingers 

Replacing finger A (thumb): 

  • Place the finger on the worm at the base, align the finger gear holes to the chassis holes, insert the finger A proximal axis until the 4-40 screw thread are cleared.
  • Apply Loctite 220 to the 4-40 X 5/16 screws, tighten the two 4-40 screws with a torque of about 5 pound-inch (0.6 N-m).

Replacing fingers B & C: 

  • Place the finger on the worm at the base, align the finger gear holes to the base holes, fully insert the proximal axis. 
  • Using the retaining ring pliers, place a new c-clip on the inside of the axis.

 

Conclusion

Replacing the gear in your 3F Gripper is an essential preventive maintenance task. Use only Robotiq-authorized parts and follow the steps carefully to ensure safe and effective operation. You can also download the procedure to replace the gear.