2.3.5 FingersGetting-started finger, dimensionsThe following figure shows the dimension of the getting-started finger.xx1500001606Design requirements for customized fingersExcept for the two getting-started fingers delivered together with the IRB 14000gripper, it is also possible for users to customize fingers based on actualrequirements. The getting-started fingers can grip only up to 10,000 times underthe maximum gripper force 20 N; therefore, it is always recommended customizedfingers be designed and used.When designing fingers, the following requirements should be met:• To enhance the stiffness for gripping and extend lifetime of the fingers, it isrecommended that metal is being used as the finger materials.• The finger size must be designed properly to prevent any collision with thegripper shell during the finger movement or gripping.• The length of the screws that are used for fastening the fingers to the fingerflange must be proper and less than the maximum hole depth on the flange.For details about the maximum hole depth, see Hole configuration, fingerflange on page 42.• Installation direction and position of the fingers should follow those of thegetting-started fingers. For details, see Getting-started finger, dimensionson page 33.Product manual - IRB 14000 gripper 333HAC054949-001 Revision: H© Copyright 2015-2018 ABB. All rights reserved.2 Installation and commissioning2.3.5 Fingers
