::heading=Context
Robotiq 2F-85 and 2F-140 adaptive grippers use a circular motion to grip. This article intends to provide a guideline on how to calculate the vertical motion of a 2F adaptive gripper.
::heading=Knowledge
See below a graph of the vertical motion of each gripper model depending on the requested position from 0 to 255. The 0mm is relative vertical position when the gripper is fully opened.
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