IAI America RCLE-GR5L - Manual (Page 36)

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11. Cautions During Work Part Travel
By applying a strong force or impact other than the holding force to the fingers during a work
part travel, it may cause the fingers to be off the correct position, to be loosened or malfunction.
Please be careful not to apply force or impact during travel.
Ɣ Set the holding point as close as possible to the center of gravity of the work part. If it is far,
the moment due to gravity may make the work part orientation unstable.
Center of gravity
of the work part
Holding Point
Unstable
Ɣ Keep clearance to the work part in the directions it gets gripped. Also, have enough
adjustment so the work part is gripped at the center and the load cannot be focused only on
one finger.
No clearance, load not balanced With sufficient clearance
Ɣ Do not attempt to have such operations that insert the work part into a pocket or pull it out
from a pocket while the work part is being held with the gripper.
Press-fitting not permitted Pulling out press-fitted
work part not permitted