Smart gripper finger broken

Collaborative Robots
1

After three years of service on a IRB14050 (YuMi Single Arm), today one finger of the Smart Gripper tool cracked while closing on a wooden brick and is now broken. I was able to print a 3D replacement and I’ll order a new set of fingers ASAP.

I was quite surprised because I assumed that the gripper mechanism had some sensors onboard and could withstand some stress. Am I completely wrong? Should I use some instruction to limit its strength? Is that kind of failure common?

2

You can use the \holdforce parameter to set the force used during closing. You should restrict the force to the maximum needed to hold the workpiece reliably. However, a failure after 3 years doesn’t sound particularly terrible.

3

Thanks @mike_10 , I’ll set the \holdforce parameter from now on.