IAI America RCP2W-GRLS - Manual (Page 117)

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1. Appendix
11. Appendix
11.1 Notes on Use Regarding the Gripping Force
Upon using, the following conditions must be satisfied.
11.1.1 Slide Type
Step 1: Check the required gripping force and work part mass that can be
transferred
Step 2: Check the allowable vertical loads and allowable moments
of the finger
Step 1: Check the required gripping force and work part mass that can be
transferred
When gripping the work part by utilizing the friction force generated by the
gripping force, calculate the required gripping force as explained below.
(1) Normal transfer application
F: Gripping force [N] --- Total sum of push forces of respective fingers
P: Static friction coefficient between the finger attachment and work part
m: Mass of the work part [kg]
g: Gravitational acceleration [= 9.8 m/s
2
]
The condition under which the work part can be gripped statically without
dropping is as follows:
Assuming a recommended safety factor of 2 in a normal transfer application,
the required gripping force is calculated as follows:
If the friction coefficient is P0.1 to 0.2, the following equation is valid:
* The higher the static friction coefficient, the greater the work part mass that can
be transferred. To ensure safety, however, select an appropriate model that can
produce a gripping force of at least 10 to 20 times this value.
Normal transfer of work part
Required gripping force
Ÿ At least 10 to 20 times the mass of the work part.
Work part mass that can be transferred Ÿ No more than 1/10 to 1/20 of the gripping force
(2) When the work part is subject to high acceleration/deceleration or large impact force during
transfer
The acceleration/deceleration or impact force is added to the gravity and an even stronger inertial
force acts upon the work part. In this case, increase the safety factor further to select an appropriate
model.
When a high acceleration/deceleration or large impact force is applied
Required gripping force
Ÿ At least 30 to 50 times the mass of the work part
Work part mass that can be transferred
Ÿ No more than 1/30 to 1/50 of the gripping force
(safety factor)
Friction coefficient P
Friction
coefficient
P