7.4 Attachments (Fingers) Suggested Design
If the finger part is made of metal material, such as steel or aluminum. It is recommended to add elastic
material such as rubber or casting polyurethane to the finger part. This not only increase the friction of the
gripping but also obtain more precise gripping force.
The following table below uses XEG-32 as an example to test the gripping force of two different finger
parts, such as metal material and metal + elastic material.
According to the experimental results, the gripping force of the finger (metal + elastic material) is more
precise and stable than the finger (metal material). However, as the gripping force or gripping speed increases,
the difference in gripping force increases.
Elastic material
Elastic material
•
Experimental Planning and Condition Setting
Project
Experiment 1
Experiment 2
Experiment 3
Experiment 4
Type
XEG-32
XEG-32
XEG-32
XEG-32
Gripping Point (L)
20 mm
20 mm
20 mm
20 mm
Gripping Speed
1 mm/s
1 mm/s
10 mm/s
10 mm/s
Gripping Force
40%
100%
40%
100%
0
20
40
40%
40%
48.4%
50.4%
43.7%
46.7%
100%
100%
109.1%
113.7%
128.5%
103.6%
60
80
100
120
140
Gripping Force Preset
Experiment 1
Experiment 2
Experiment 3
Experiment 4
Finger(metal material)
Finger(metal + elastic material)
Gripping Force (%)
Please design the attachments (fingers) according to the weight limitation in the table below to avoid
installing too heavy attachments (fingers), which will cause the electric gripper to operate abnormally.
• Attachments (Fingers) weight limitation
Model
XEG-16
XEG-32
XEG-48
XEG-64
XEG-32-PR
Max. total weight
160g
280g
400g
600g
280g
C02UE03-2007
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