External Tool Finishing Kit - Instruction Manual
5.2.4. Moment and force limits
The Hand-E Gripper has limits for moment and force values. The maximum moment and force values are independent of the grasp
force applied by the Gripper on its payload. For payload calculation, please refer to the Payload and Force Specifications section.
Warning
The following limits must be respected at all times.
Calculation of maximum moment and force should include robot acceleration and safety factors.
Parameter
Hand-E with Aluminum Fingers
F
x
, F
y
, F
z
100 N
M
x
*
2.65 Nm
M
y
*
3.74 Nm
M
z
*
2.00 Nm
*Moments in x and y are calculated from the base of the fingers, as shown in the figure below.
4
Fig. 5-11: Reference frame for maximum force and moment values applied to the fingers
Usage examples with listed limits:
l
After picking its normal payload, the robot can use Hand-E to apply up to 100 N of force in any direction. Applying more than 100 N
can damage the Gripper or result in payload loss.
l
The Gripper can pick a screwdriver and apply 2 Nm of torque to screw (such a moment would be applied in the Z axis).
