This how-to is intended for Robotiq 3-Finger Gripper version 5.1 to 7.0 (up-to-date on 2013-11-11). The schematics in the following sections are illustrated with 3-Finger Gripper v7.0 but can be applied to any version between 5.1 and 7.0.Here is how the installation of the ‘’ Self-rotating fingertip’’ for Robotiq 3-Finger Adaptive Robot Gripper goes. 1. PARTS AND TOOLS Parts you will need: 2 X AGS-FIN-002 pre-assembled for left and right Tools you will need: 3/32” Hex key 9/64” Hex Key Medium strength threadlock (Loctite 248 or similar) 2. REMOVING STANDARD FINGERTIP Use the 9/64” hex key to remove the standard fingertip. Remove any dirt or debris from the finger surface. 3. INSTALLING SELF ROTATING FINGERTIP Use the 3/32” hex key to screw the shoulder screw of the Self-Rotating Fingertip onto the illustrated threaded holes. Use medium strenght threadlocker (Loctite 248 or similar). Push on each self-rotating fingertips to verify the fluidity of the movement, fingertips must come back to parallel position by themselves.