IAI America RCP2W-GRLS - Manual (Page 98)

88
10. Specifications
10. Specifications
10.1. Specification List
Small two-finger type Medium two-finger type
Slide type Lever type Slide type
RCP2-GRSS
RCP2CR-GRSS
RCP2W-GRSS
RCP2-GRLS
RCP2CR-GRLS
RCP2W-GRLS
RCP2-GRS RCP2-GRM
Open/close stroke
8 mm
(4 mm per side)
180 deg
(90 deg per side)
10 mm
(5 mm per side)
14 mm
(7 mm per side)
Maximum gripping force 14 N 6.4 N 21 N 80 N
Maximum open/close
speed 78 mm/sec
(Per side)
600 deg/sec
(Per side)
33.3 mm/sec
(Per side)
36.7 mm/sec
(Per side)
Stopping repeatability r0.01 mm r0.01 deg r0.01 mm r0.01 mm
Backlash
0.1 mm max.
on each side *1
1 deg max.
on each side *1
0.15 mm max.
on each side *1
0.15 mm max.
on each side *1
Lost motion
0.05 mm max.
on each side
0.1 deg max.
on each side
0.1 mm max.
on each side
0.1 mm max.
on each side
Allowable load moment
(*2)
Ma: 0.5 N-m
Mb: 0.5 N-m
Mc: 1.5 N-m Ma: 6.3 N-m
Mb: 6.3 N-m
Mc: 7.0 N-m Ma: 6.3 N-m
Mb: 6.3 N-m
Mc: 8.3 N-m
Position detection
method
Magnetic incremental encoder 800 P/rev
Finger drive method
Worm gear + Spiral bevel
gear + Spiral bevel rack
Worm gear + Spiral bevel
gear
Timing belt + Trapezoid screw
Finger guide structure Linear guide (ball) --- Cross roller guide
Gripper weight 0.2 kg 0.2 kg 0.36 kg 0.5 kg
*1 Constantly pushed toward the opening side by a spring.
*2 Moments generated in a standstill state
Two-finger Type with High Gripping Force
Slide type
RCP2-GRHM
(Gear ratio 1:1)
RCP2-GRHB
(Gear ratio1 : 1)
Open/close stroke 32 mm
(16 mm per finger)
40 mm
(20 mm per finger)
Maximum gripping force 125 N 200 N
Maximum open/close
speed
100 mm/s (on each side)
Stopping repeatability r0.01 mm
Backlash 0.2 mm
Lost motion 0.15 mm max.
Allowable load moment Ma: 15.2 N-m
Mb: 21.7 N-m
Mc: 60.5 N-m
Ma: 20.4 N-m
Mb: 34.3 N-m
Mc: 77.8 N-m
Position detection
method
Magnetic encoder (incremental )
Finger drive method Stepping motor + Timing belt + Trapezoidal slip screw
Finger guide structure Linear limited-rotation rolling ball bearing
Gripper weight 1.14 kg 1.5 kg
11.7
16.7
46.5 15.7
26.4
59.8