OnRobot Gecko Gripper, Оригинальное руководство пользователя, Страница: 126 / 198

Hardware Specification
126
Specification or Feature Target value
Parts Presence Sensing Yes (Ultrasonic)
Pad Material Proprietary silicone blend
Wear Properties Depends on surface roughness and preload
Pad Attachment Mechanism Magnetic
Change-out interval
150000 – 200000 for HIGH PRELOAD
200000 – 250000 for LOW PRELOAD
Cleaning system Cleaning station
Cleaning interval and % recovery See Cleaning Station Manual
Effectiveness on Different Materials
The Gecko Gripper is best suited for smooth, low surface roughness substrates that are generally flat, stiff,
and rigid. For other materia
ls, the Gecko Gripper’s effectiveness drops depending the stiffness and
roughness of the picking surface. The table below shows a relationship between rigid and flexible
substrates, surface finish, payload and the required preload to pick up said substrate . For example, if the
customer knows that their part/substrate is rigid, with a mirror-like finish and weighs 2kg, the preload
required to pick up the part/substrate is a medium-level preload.
Flexibility Surface finish Payload (kg) Required Preload
Rigid
Mirror-like finish
0 to 2 Low
2 to 4 Medium
4 to 6 High
Smooth
0 to 2 Medium
2 to 4 High
4 to 6 N/A
Matte
0 to 2 High
2 to 4 N/A
4 to 6 N/A
Flexible
Mirror-like finish
0 to 2 Medium
2 to 4 High
4 to 6 N/A
Smooth
0 to 2 High
2 to 4 N/A
4 to 6 N/A
Matte
0 to 2 N/A
2 to 4 N/A
4 to 6 N/A
To further elaborate the significance between preload and payload, the table below shows visual matrix
that displays the capability of the gecko gripper to pick up different materials with varying stiffness and
roughness, at three different preload values (low 40N, medium 90N, high 140N).