> For the complete documentation index, see [llms.txt](https://docs-origin.anvil.bot/llms.txt). Markdown versions of documentation pages are available by appending `.md` to page URLs; this page is available as [Markdown](https://docs-origin.anvil.bot/products/customizable-gripper.md).

# Customizable Gripper

### Overview

Anvil's customizable gripper platform gives developers maximum flexibility on customizing end effectors. We realize that there are many task spaces and use cases that the industry is developing towards, from glassware in labs, to soft packaging in logistics, so flexibility is a required feature.

* Customize Grippers - Anvil's grippers will ship with 3 different gripper flanges as a starting point, the 3D files for these are also available to serve as references.
* Camera and Mounts - Anvil also provides a standard camera mount that's compatible with our 60 FPS camera which serves as a great starting point.  The camera is easily removed if you want to install your own.  
* Tactile Sensing - Currently Anvil's gripper does not support tactile or force torque sensing, however we do plan on implementing these new sensor modalities as separate add-ons to our grippers.

### Media

<div><figure><img src="https://4223670213-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2FT8swLPls6cg6zxcYD7sj%2Fuploads%2FPZi64AD1gI7YeFVWmbRn%2Fimage.png?alt=media&amp;token=971e5f63-902a-425b-b20c-539d266d7929" alt=""><figcaption></figcaption></figure> <figure><img src="https://4223670213-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2FT8swLPls6cg6zxcYD7sj%2Fuploads%2FCedPnvCKFNk9VuiDjl1M%2Fimage.png?alt=media&amp;token=35447e25-da19-467d-807a-96a0ee7ec61d" alt=""><figcaption></figcaption></figure></div>

<div><figure><img src="https://4223670213-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2FT8swLPls6cg6zxcYD7sj%2Fuploads%2Foi6admMEpcJhIFzqbPa2%2Fimage.png?alt=media&amp;token=90198d30-9f0a-4ef2-953e-d939d67c5a88" alt=""><figcaption></figcaption></figure> <figure><img src="https://4223670213-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2FT8swLPls6cg6zxcYD7sj%2Fuploads%2FfcldCU05f7c11a84RsRH%2Fimage.png?alt=media&amp;token=641516bb-bebd-4673-aed7-8cccdf8a7efd" alt=""><figcaption></figcaption></figure></div>

### Packing List

The Anvil Gripper comes with most of Anvil's robot embodiments.  For detailed packing list, please review the devkit details.

* [Individual Anvil Gripper](https://shop.anvil.bot/products/customizable-gripper)
* [OpenARM Quest Teleop Kit](https://shop.anvil.bot/products/openarm-quest-teleop-kit)

### Technical Specs

| Weight                          | 0.72kg        |
| ------------------------------- | ------------- |
| Operating Range                 | 0 - 110mm     |
| Rated Gripping Force            | 150N          |
| Max. Gripping Force             | 350N          |
| Movement Mechanism <sup>1</sup> | Linear Direct |
| IP Rating                       | IP 20         |

<sup>1</sup> The Movement Mechanism is important to understand as it characterizes the gripping force. Anvil uses a uniform direct linear mechanism to ensure consistent grip strength throughout the entire gripping motion. Alternative mechanisms are potentially non-uniform, with dips and peaks in grip strength which creates challenges for granular manipulation.