IAI America RCLE-GR5L - Manual (Page 34)

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Consider the value shown below as the upper limit for L
G
H
G
. Use beyond the limited range
will give extreme moment to the finger slide part and internal mechanism, which could
badly influence to the product life.
Figure 2. Upper Limit of 2-Finger Gripper Holding Point L
G
and Overhang H
G
25
20
15
10
5
0
0 5 10 15 20 25
Overhang Amount H
G
(mm)
Holding Point L
G
(mm)
(1) Moment generated on fingers by holding force
1) Moment in M
a
direction [M
Ia
]
M
Ia
L
G
1.5F
ዣ
2
2) Moment in M
b
direction [M
Ib
]
M
Ib
H
G
1.5F
ዣ
2
The maximum holding force is 1
0.2N described in “2. Performance”. The maximum
holding force is indicated at the finger when the holding point is 0mm and overhang
distance is 0mm. Holding force varies depending on the stroke. [Refer to 2. Performance]