Knob

Grip force

You might say: how hard it squeezes

Grip force is the normal force a contact applies to the object.

What it does

It must resist gravity and acceleration through friction, without damaging the object.

Ask

What is the lowest force that holds with a measured friction and safety margin?

Typical

Robotiq lists 20–235 N grip force for its 2F-85 parallel gripper. A simple two-contact estimate is total normal force F_n ≈ load/(friction coefficient × number of contacts), then add margin.

Trouble

Too little force causes slip; too much force can deform or crush the object, and uneven fingertips can create a twist.

What to look for

1. Object held without slip
2. Slip from too little force
3. Deformation or crushing from too much force

Connections

• Measured by: Force-torque sensor

Sources

1. Kevin M. Lynch and Frank C. Park, Modern Robotics: Mechanics, Planning, and Control, Ch. 12 §§12.2.1–12.2.3If the finger slides to the right, the force it applies lies on the right-hand edge of the friction cone, with magnitude determined by the normal force.
2. Robotiq, Adaptive Grippers, 2F-85 specification20 TO 235 N GRIP FORCE

Use it on your project

teardown-apply: hold "Grip force" (grip-force) from the teardown at https://teardownatlas.com/robotics/ against my project

Paste it into a coding agent that has the teardown skills.

An AI agent wrote this map with the teardown skill. It can contain errors: check the sources before you rely on a part. About and legal