OnRobot Gecko Gripper, Оригинальное руководство пользователя, Страница: 158 / 198

Hardware Specification
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To use more than 7 (15mm), 4 (30mm) or 3 (40mm) vacuum cups with
the VGC10 a customized adaptor plate is needed.
The table above is created with the following formula that equalizes the lifting force with the payload
considering 1.5g of acceleration.
Amount
Cups
. Area
Cup
[mm} = 19600
Payload [kg]
Vacuum [kPa]
It is often a good idea to use more vacuum cups than needed, to accommodate for vibrations, leaks and
other unexpected conditions. However, the more vacuum cups, the more air leakage (air flow) is expected
and the more air is moved in a grip resulting in longer gripping times.
When using porous materials, the vacuum that can be achieve by using the OnRobot suction cups will
depend on the material itself and will be between the range stated in the specifications. Some of the most
common non-porous materials are listed below:
•
Fabrics
•
Foam
•
Foam with open cells
•
Low density cardboard
•
Low density paper
•
Perforated materials
•
Untreated wood
See the table below with general recommendations, in case other suction cups are needed for specific
materials.
Workpiece surface Vacuum cup shape Vacuum cup material
Hard and flat Normal or dual lip Silicone or NBR
Soft plastic or plastic bag Special plastic bag type Special plastic bag type
Hard but curved or uneven Thin dual lip Silicone or soft NBR
To be painted afterwards Any type NBR only
Varying heights 1.5 or more bevels Any type
NOTE:
It is recommended to consult a vacuum cup specialist to find the
optimal vacuum cup where the standard types are insufficient.