Robotiq 2-Finger Adaptive Gripper
Instruction Manual
Robotiq inc. © 2016
108
As defined in Figure 6.2.1, the weight that can be lifted is defined by :
F is the force that is applied to the load by the Gripper.
C
f
is the friction coefficient between the fingertip and the part load.
S
f
is a safety factor to be determined by the robot integrator.
Info
The "Actuation Force" is the force that can be applied to an object by the motor of the Gripper.
The Gripper is self-locking.
Note
The user of the Gripper must always ensure that the result of the forces against the finger is always lower than the maximum holding Force as
seen in figure 6.2.2.
Info
For example, if the silicone fingertips
are used to lift a lubricated steel part (machine tending with cutting oils), the friction coefficient
AGC-TIP-204
would be 0.3 (tested static coefficient of friction).
Maximum weight with a safety factor of 2.4 would be :
W = (2 x 200 N x 0.3) / 2.4 = 50 N
This calculation means that a 5 kg part will be held by the Gripper when not moving (standing still). When accelerating, the payload will decrease.
For example, if your robot accelerates at 2g then the 5 kg part would weight 100 N and would be dropped.
The biggest factor in such calculations will always be the friction coefficient, we recommend testing the coefficient.
Warning
You must consider the
in your payload calculations.
robot acceleration
Robot emergency stops will lead to major deceleration velocities.
