Robotiq 2F-85 Gripper

An electric two-finger adaptive gripper from Canada's Robotiq, with an 85 mm opening.

The 2F-85 is an electric two-finger gripper made by the Canadian company Robotiq; the “85” in its name refers to the fingers' maximum 85 mm opening. Official specs list a settable grip force of roughly 20–235 N and a repeatability of 0.05 mm. Its fingers use a linkage mechanism that lets them either pinch together like an ordinary parallel gripper, or automatically curl around an object once they make contact — an “adaptive,” or underactuated, design, where one motor drives multiple joints. It's interface-compatible with collaborative arms like UR and Franka and works right out of the box, which has made it one of the most common end effectors in robot-learning labs; in many public datasets and policy models, the gripper dimension of the action space is simply this gripper's open/close amount.

ExampleThe DROID dataset's data-collection rig pairs a Franka arm with a Robotiq 2F-85 gripper.

Also called

2F-85, Robotiq Adaptive Gripper

Related

Gripper · Parallel Jaw Gripper · Adaptive (Underactuated) Gripper · End Effector · Robotiq · DROID (Distributed Robot Interaction Dataset)

Sources

Robotiq 2F-85 / 2F-140 Instruction Manual - Specifications
Robotiq 2F-85 & 2F-140 Adaptive Grippers

As of

2026-09