Robotiq Hand-E Gripper Instruction Manual
Payload and force
Actuation force model used to calculate the recommended friction payload (W):
where:
l
F is the force applied by the gripper to the load.
l
C
f
is the friction coefficient between fingertip and part load.
l
S
f
is a safety factor to be determined by the robot integrator.
Fig. 6-9: Actuation force on the fingertip of the Hand-E Gripper
Info
l
The Actuation Force is the force that can be applied to an object by the motor of the gripper.
l
The gripper has a power off brake. This means that without power, gripper fingers are blocked.
Info
For example, if the silicone fingertips (HND-TIP-SLC-KIT) are used to lift a lubricated steel part (machine tending with cutting
oils), the friction coefficient would be 0.3 (tested static coefficient of friction).
Maximum weight with a safety factor of 2.4 and maximum force would be:
W = (2 x 130 N x 0.3) / 2.4 = 32.5 N
This calculation means that a 3.3 kg part will be held by the gripper when not moving (standing still). When accelerating, the
payload will decrease.
The biggest factor in such calculations will always be the friction coefficient, we recommend testing the coefficient.
Warning
You must consider the robot acceleration in your payload calculations.
Robot emergency stops will lead to major deceleration velocities.
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Summary of Contents for ROBOTIQ HAND-E
Page 30: ...Robotiq Hand E Gripper Instruction Manual Fig 4 1 Hand E control logic overview 30...
Page 85: ...9 Troubleshooting Section to be populated soon Robotiq Hand E Gripper Instruction Manual 85...
Page 90: ...Robotiq Hand E Gripper Instruction Manual 1 2 3 IngressProtection Certificate 90...
