How to replace the gear of the 3F ?

The following article will guide you through the replacement of the finger gears present in your Robotiq S-Model Gripper. 

The replacement of gears is suggested after 2 Millions cycles (average) or after a year of continuous use. Only use gears provided by Robotiq support service. The SKU to order it is: AGS-GEAR-001. 

Solution

The following document will guide you through the replacement of the finger gears present in your Robotiq S-Model Gripper. The replacement of gears is suggested after 2 Millions cycles (average) or after a year of continuous use. Only use gears provided by Robotiq support service.

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.