2 notes on transferring work parts – IAI America RCP2W-GRLS User Manual
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1. Appendix
11.2 Notes on Transferring Work Parts
If the fingers receive a strong force or impact other than the gripping force when transferring work parts,
the finger positions may deviate, looseness may occur or damage may result. Accordingly, pay due
attention to the points listed below.
Cause the center of gravity of the work part to match the gripping point as much as possible. If the two
are not aligned, gravitational moments will force the work part to assume an unstable posture.
While being gripped, the work part should have play (compliance) in the gripping direction. Also
perform thorough alignment and avoid using the gripper in a manner where loads concentrate on one
finger alone when a work part is gripped.
Gripping point
Center of gravity of
the work part
Unstable
No clearance is
available. Loads are
received unevenly.
Clearance is available.