Two-finger adaptive linkage gripper, 85 mm

A two-finger gripper whose four-bar linkages close parallel on small parts and wrap around larger ones; one motor drives both fingers.

Adaptive gripperNativeEntrantBSD-2-Clause

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Facts

Kind: Adaptive gripper
Class: Simulation model of a product (generic name)
Capabilities: pinchholds a part between two opposed tips or pads
powerwraps several fingers around a part
Mount: The maker's coupling to a cobot tool flange.ISO pattern: ISO 9409-1-50-4-M6 (assumed, not read today)Suggested adapter: Tool plate for an ISO 9409-1-50-4-M6 flange
The coupling's pattern was not read today: verify before ordering bolts.

Specifications

Spec	Value	Basis	Source
Stroke (model name)	85 mm	Derived	derived from the files or the model
Fingers	2, adaptive four-bar linkages, one actuator	Derived	derived from the files or the model

Simulation

Status: NativeNative simulation model
Model source: Upstream MJCF.
Fidelity: Rigid model
Model: 1 actuator · 900 g
Note: A simulation model of a commercial gripper, shipped under a generic name; the licence covers the model files, not the product's patents or marks.
Tournament: Entrant1 entrant spec in the effector tournament.

Compile and attach gate

Each entrant spec is built in the tournament's shared scene on every training part. One nominal episode per built part (no placement error, seed 0) is information, not part of the gate.

Two-finger adaptive linkage gripper, 85 mm

GATE PASSED

Primitive: pinch
Actuators: 1
Mass: 900 g
Reach: 151.9 mm
Opening: 86.6 mm

Training part	Gate	Held (nominal)	Nominal outcome	Penetration
Block	built	yes	held	0.82 mm
Steel slug	built	yes	held	0.12 mm
Hex standoff	built	no	Hit the table	0.00 mm
L-bracket	built	no	Hit the table	0.00 mm
Pipe tee	built	no	Hit the table	0.00 mm
Flanged bushing	built	no	Hit the table	0.00 mm

Held at nominal: Block, Steel slug.

Licence

BSD-2-ClauseCovers the simulation model (MJCF and meshes). Licence text

Licence rating: green. Full attribution: see the credits page.

Files

File	Type	Size	Licence	Changed
gripper-2f-adaptive-85.xmlassets/effectors/library/gripper-2f-adaptive-85/sim/gripper-2f-adaptive-85.xml	Simulation file (derived)	8.2 kB	BSD-2-Clause	modified
base.objassets/effectors/library/gripper-2f-adaptive-85/sim/meshes/base.obj	Simulation file (derived)	335.3 kB	BSD-2-Clause	modified
coupler.objassets/effectors/library/gripper-2f-adaptive-85/sim/meshes/coupler.obj	Simulation file (derived)	212.0 kB	BSD-2-Clause	modified
driver.objassets/effectors/library/gripper-2f-adaptive-85/sim/meshes/driver.obj	Simulation file (derived)	115.1 kB	BSD-2-Clause	modified
follower.objassets/effectors/library/gripper-2f-adaptive-85/sim/meshes/follower.obj	Simulation file (derived)	89.1 kB	BSD-2-Clause	modified
spring_link.objassets/effectors/library/gripper-2f-adaptive-85/sim/meshes/spring_link.obj	Simulation file (derived)	203.5 kB	BSD-2-Clause	modified
tongue.objassets/effectors/library/gripper-2f-adaptive-85/sim/meshes/tongue.obj	Simulation file (derived)	148.2 kB	BSD-2-Clause	modified

Each file links to its copy in the repository. Licence texts sit next to them in LICENSES/. What changed is on the credits page.

Upstream

Upstream repository, commit 62ab00f2