OnRobot VGC10, Руководство пользователя, Страница: 164 / 213

Hardware Specification
164
Number of Cups needed for non-porous materials depending on payload and vacuum:
NOTE:
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
15mm
30mm
40mm
Payload
(kg) Vacuum (kPa) Vacuum (kPa) Vacuum (kPa)
20 40 60 75 20 40 60 75 20 40 60 75
1 7 4 3 2 4 2 2 1 2 1 1 1
2 14 7 5 4 8 4 3 2 4 2 2 1
3 - 11 7 6 12 6 4 3 5 3 2 2
4 - 14 9 8 15 8 5 4 7 4 3 2
5 - - 12 9 - 10 7 5 9 5 3 3
6 - - 14 11 - 12 8 6 10 5 4 3
7 - - 16 13 - 13 9 7 12 6 4 4
8 - - - 15 - 15 10 8 14 7 5 4
9 - - - - - - 12 9 15 8 5 4
10 - - - - - - 13 10 - 9 6 5
11 - - - - - - 14 11 - 9 6 5
12 - - - - - - 15 12 - 10 7 6
13 - - - - - - 16 13 - 11 8 6
14 - - - - - - - 14 - 12 8 7
15 - - - - - - - 15 - 13 9 7