IAI America RCP2W-GRLS - Manual (Page 118)

108
1
1. Appendix
Step 2 : Check the allowable vertical loads and allowable moments of the finger
Check the vertical loads and moments applied to the finger. Calculate Fz, Ma, Mb and Mc by
referencing (1) and (3) explained below and select a model with which the allowable values will not
be exceeded.
Fig. 1 Loads and Moments Applied to the Finger
F
X
: External force applied to the work part and finger attachment
in the X direction (N)
M
Ia
: Moment generating around the finger in the Ma direction
due to the gripping force (Nm)
F
Y
: External force applied to the work part and finger attachment
in the Y direction (N)
M
Ib
: Moment generating around the finger in the Mb direction
due to the gripping force (Nm)
F
Z
: External force applied to the work part and finger attachment
in the Z direction (N)
M
Oa
: Moment generating around the finger in the M
a
direction
due to an external force (Nm)
L
G
: Distance from the finger installation surface to the gripping
point (gripping point) (mm) *Note 1
M
Ob
: Moment generating around the finger in the M
b
direction
due to an external force (Nm)
H
G
: Distance from the center of the finger to the gripping point
(overhang) (mm) *Note 1
M
Oc
: Moment generating around the finger in the M
c
direction
due to an external force (Nm)
L
C
: Distance from the finger installation surface to the center of
gravity of the work part and finger attachment (mm)
M
a
Total moment generating around the finger in the M
a
direction (Nm)
H
C
: Distance from the center of the finger to the center of gravity
of the work part and finger attachment (mm)
M
b
Total moment generating around the finger in the M
b
direction (Nm)
M
c
Total moment generating around the finger in the M
c
direction (Nm)
Table 1 Allowable Loads and Allowable Moments of Fingers *Note 2
Maximum allowable load moment *Note 3
Model
Allowable vertical load (N)
F
amax
M
amax
M
amax
M
cmax
RCP2-GRSS 60 0.5 0.5 1.5
RCP2-GRS 253 6.3 6.3 7.0
RCP2-GRM 253 6.3 6.3 8.3
RCP2-GRHM 390 15.2 21.7 60.5
RCP2-GRHB 502 24.0 34.3 77.8
RCP2-GRST 275 2.93 2.93 5.0
RCP2-GR3SS 169 3.8 3.8 3.0
RCP2-GR3SM 253 6.3 6.3 5.7
Reactive force of
gripping the work
part
Finger
Finger attachment
Gripping point
Work
Center of gravity of the finger
attachment and work part
11.7
15.7 16.7
26.4 46.5
59.8