Any way to stop the 2F85 Gripper rocking on a Baxter

Robotiq_Customer 2016-06-02

Hi,
So far we are satisfied the gripper.
We found it can grasp an (raw) egg.

Also, here is my recent video with Robotiq & Baxter:

I have one question. After finishing the grasping motion, the gripper
is rocked at the final pose. Can we disable the rock? Then we can
interact with the gripper (e.g teaching a motion).

Etienne_Samson 2016-03-16

Dear member, Can you tell me what you mean by "disabled the rock?" I'm not sure I understand. Thanks for clarifying. Best,

Robotiq_Customer 2016-03-16

Hi Etienne, "disabled the rock": Sorry, this was a typo. I meant the automatic lock of Robotiq after the motion. Imagine a teaching-playback system (of Baxter, for example). We can easily teach motions with such a mode. The lock of Robotiq after moving is good to keep the grasping state, but is not helpful for making such a teaching system. So I asked if there is a mode to disable the lock. Thank you,

Etienne_Samson 2016-03-16

I understand, thanks for the explanation. The Gripper self-locking mechanism comes from the internal gearing, we cannot software disable this unfortunately. There is something that could be done with the new generation of Gripper though (not yours). This Gripper use a steady current to keep track of the object, it intends to detect if the object is falling to automatically re-grip. This feature could be used in the opposite way, to have the Gripper open when it detects a force applied. Again, that is only with the new generation of Gripper. Best,

Robotiq_Customer 2016-03-16

Thank you for the information. Could you give me URLs of the new generation Grippers? Do you mean a gripper like 2F85-2015? Actually I compared my version of gripper and the new version 2F85-2015 when we ordered it, but I could not find the difference like that function. Could you tell me where (e.g. spec-sheet, catalog, URL) such a function is explained? This is just a curiosity for my future purchase. Best,

Etienne_Samson 2016-03-16

There are two generations of Gripper in circulation, now we only sell the "new" one, it's what you can see on the website. [http://robotiq.com/products/adaptive-robot-gripper/](http://robotiq.com/products/adaptive-robot-gripper/ "http://robotiq.com/products/adaptive-robot-gripper/") Here is a video showing the feature I was talking about : [https://www.youtube.com/watch?v=dpz93170dAk](https://www.youtube.com/watch?v=dpz93170dAk "https://www.youtube.com/watch?v=dpz93170dAk") There are also many different features, like payload, force control, etc. Best,

Robotiq_Customer 2016-03-16

Hi Etienne, The new gripper is very nice. I considered only the data on the spec-sheet (the old version was satisfying our requests), but that secure function is a big motivation to buy the new one. Thanks,