Robotic Grippers

Single Acting Robotic Grippers

The GTP-45 delivers 600# of grip force in a two or three finger configuration

Light Weight – At less than eight ounces, these featherweight grippers provide an unprecedented grip force to weight ratio.

Multiple Jaw Configurations – 6˚ Gripper available in two or three finger, expanding or contracting styles. 12˚ Gripper available in two finger contracting style.

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GTP grippers are designed to accommodate added tooling on the fingers and grip complex components using PFA’s Gripper Pads (page 11). “3X” Style units are excellent for ID and Inside Bore applications and Recess Mount “R” style units mate easily with our Compliance Devices to support “jam free” assembly.

single-acting-gripper-drawing

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Robot EOAT Single Acting Spring return Robotic Gripper - High Force Angular Jaws - GTP style

Double Acting Robotic Grippers

Select the exact double acting grip force you need

1,000# of Grip Force* – DAG-80
800# of Grip Force* – DAG-45
250# of Grip Force* – DAG-30

*Based on 100psi air pressure – measured at tip of finger.

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Recessed Mount

Drawing Reference	DAG-30	DAG-45	DAG-80
A	2.04	2.64	4.35
B	1.180 1.178	1.772 1.770	3.250 3.248
C	1.126	1.277	1.89
D	.71	1.04	1.31
E	1.02	1.10	1.70
F	.375	.550	1.050
G	.275	.315	.511
H	.20	.20	.34
I	.56	.61	.75
J	.34	.65	.90
K	.250	.375	.60
L	.250	.320	.50
M	M4 x .07 thread	M4 x .07 thread	M6 x 1.0 thread
N	.57	.85	1.50

double-acting-gripper-recessed-mount

Note: Dimensions are in inches except where noted.

Double Acting Gripper Universal Mount

Universal Mount

Drawing Reference	DAG-30	DAG-45	DAG-80
AA	1.97	3.15	4.92
BB	1.263/1.260 Dia. x .10 DP C’Bore	1.972/1.969 Dia. x .10 DP C’Bore	3.153/3.150 Dia. x .20 DP C’Bore
CC	1.224	1.375	2.087
DD	.157/.156 Dia. thru on 1.575 Dia. BC	.236/.235 Dia. thru on 2.480 Dia. BC	.315/.314 Dia. thru on 3.937 Dia. BC
EE	.17 Dia. thru, 4 PLS EQ SP on a 1.575 Dia. BC	.25 Dia. thru, 4 PLS EQ SP on a 2.480 Dia. BC	.33 Dia. thru, 6 PLS EQ SP on a 3.937 Dia. BC

Note: Dimensions are in inches except where noted.

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Robot EOAT Double Acting Robotic Gripper - High Force Angular Jaws - DAG style

APG Double Acting Parallel Jaw Grippers

Low Weight – The APG-30, weighing only .5 lbs. has a grip force of 28 lbs. @100 PSI air pressure. Similarly, the APG-45 weighs 1.1 lbs. with 85 lbs. of grip force and the APG-80 weighs 6.1 lbs. with a grip force of 250 lbs.

Multiple Jaw Configurations – Like our other lines, APG’s are made with both recessed and universal mounts – a perfect fit for our Accommodator (RCC).

Style	Weight	Force @ 100 PSI
APG-30	.5 lbs.	28 lbs.
APG-45	1.1 lbs.	85 lbs.
APG-80	6.1 lbs.	250 lbs.

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Cleanroom – Class 100 – Accepted for cleanroom use, the CR100 versions of the APG30 and 45 keep the lines running smoothly – no particle problems here!

Constant Force Application – Grip force is constant at any point along slide, allowing for very large finger travel without sacrificing grip force.

Also Available with Sensors – Hall Effect Sensors can be adjusted to sense the desired open and closed position. The sensors detect part absence and ensure part release.

Sensor Specifications
Supply Voltage Operating:	4.5V – 24VDC
Supply Voltage (max):	24VDC
Current (max):	14mA @ 24VDC
Interconnect Cable:	3 conductor, 24 AWG, with shield. 48 in (122mm) long
Output Configuration:	Open collector, current sinking
Output Voltage (max):	24VDC
Current (max):	25mA
Operating Temperature:	0˚C (32˚F) -70˚C (158˚F)
Output Switching Time (max):	.04 microseconds

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Recessed Mount (R)

APG-30, APG-45 only

Reference	APG-30R	APG-45R
A	1.80 1.78	1.772 1.770
C	1.25	1.48
D	2.60	3.11
E	2.44	3.44
F	.50	1.00
G	1.25	1.96
H	.25 2 PLCS	.25 2 PLCS
J	.709 Centered	1.181 Centered
K	.197	.315
L	.492	.610
M	.787	.906
N	.97	1.22
P	M4 x 0.7 THD .27DP 4 PLCS Each Finger Block	M5 x 0.8 THD .33 DP 4 PLCS Each Finger Block
R	4.05 4.01 x .27 DP 2 PLCS Each Finger Block	4.05 4.01 x .33 DP 2 PLCS Each Finger Block
S	.78	.78
T	.32	.32
U	2.32	3.15
W	N/A	.159 .158 2 PLCS equally
V	1.70 Thru 4 EQ. SP. 2.4 B.C.	.170 Thru 6 PLS. EQ. SP. 3.07 B.C.

NOTE: DIMENSIONS ARE IN INCHES EXCEPT WHERE NOTED.

Universal Mount (U)

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Reference	APG-30U	APG-45U	APG-80U
A	1.97	3.00	4.92
B	.22	.30	0.50
C	1.35	1.58	3.30
D	2.69	3.20	5.57
E	2.44	3.44	6.50
F	.50	1.00	2.0
G	1.25	1.96	3.25
H	.41 2 PLCS	.58 2 PLCS	.75 2 PLCS
J	.709 Centered	1.181 Centered	2.165 Centered
JJ	.709 Centered	1.181 Centered	1.575 Centered
K	.197	.315	.433
KK	—	—	.866
L	.492	.610	1.083
M	.787	.906	1.299
MM	—	—	1.732
N	.97	1.22	2.250
P	M4 x 0.7 THD .27DP 4 PLCS Each Finger Block	M5 x 0.8 THD .33 DP 4 PLCS Each Finger Block	M6 x 1.0 THD .40 DP 8 PLCS Each Finger Block
R	.159 .158 x .27 DP 2 PLCS Each Finger Block	.159 .158 x .33 DP 2 PLCS Each Finger Block	.199 0.197 x 0.40 DP 2 PLCS Each Finger Block
S	.78	.78	1.40
T	.32	.32	.47
U	N/A	2.64	N/A
V	.17 Dia. thru 4 PLCS equally spaced on a 1.575 Dia. B.C.	.25 Dia. thru 4 PLCS equally spaced on a 2.480 Dia. B.C.	0.33 Dia. thru 6 PLCS equally spaced on a 3.937 Dia. B.C.
W	.157 .156 thru on a 1.575 Dia. B.C.	.236 .235 thru on a 2.480 Dia. B.C.	0.315 0.314 thru on a 3.937 Dia. B.C.

NOTE: DIMENSIONS ARE IN INCHES EXCEPT WHERE NOTED.

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Robot EOAT Double Acting Robotic Gripper - Parallel Jaws - APG style