Robotiq 2F gripper

The Robotiq 2F-85 and 2F-140 are two-finger adaptive grippers with underactuated fingers that conform to a range of part shapes without needing custom fingertips for every job. The number in each model name is the stroke in millimeters (85 mm and 140 mm), which is the main selection axis when picking between them.

Setup runs through Robotiq's URCap on Universal Robots controllers, or through equivalent plugins and I/O mapping on other arms. Grip force, speed, and target stroke are configured on the teach pendant as parameters on standard gripper nodes, which keeps most jobs out of scripting entirely.

In a cobot cell the 2F is the default pick for general handling work: light machine tending, tray loading, kitting, and simple assembly. Its popularity on Universal Robots comes from the URCap integration and quick setup rather than raw grip strength.

It also mounts on FANUC LR Mate 200iD, ABB IRB 1200, and other industrial arms with the right adapter and I/O mapping, usually over EtherNet/IP. The URCap advantages disappear on non-UR platforms, and the job becomes a more conventional gripper integration.

Selection limits are honest. Grip force is modest compared to a purpose-built parallel gripper like a comparable Schunk grippers model, the underactuated finger geometry gives up some positional precision for its shape adaptability, and heavy or high-force applications should go to a rigid industrial gripper.

Commissioning pitfalls: default fingertips that mark or slip on the target part (custom silicone or urethane tips solve most of this), grip-confirm signals used as pick-success when the fingers actually closed on air, and stroke settings tuned to a nominal part that catch a slightly larger variant mid-motion.

Common pairings: the Robotiq force-torque sensor mounted between the wrist and the gripper for insertion work, a Robotiq wrist camera for pick-and-place guidance, and a Quick Changer arrangement for cells that swap between the 2F and a vacuum tool.