ROBO Cylinder GR3LM, Инструкция по эксплуатации

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1. Specifications Check
37
[2] Lever Types
Procedure 1 : Check for the necessary gripping force and
transportable work piece mass
Procedure 2 : Check for the moment of inertia on the finger
attachment
Procedure 3 : Check for the external force applied on finger
Procedure 1 : Check for the necessary gripping force and the
transportable work piece mass
In the same manner as Procedure 1 for Slide types, figure
out the necessary grip force and confirm that the
requirement is satisfied.
Figure out the effective grip force on the gripping point by
referring to “1.2.2 Relation between the Current Limit Value
and the Gripping Force”.
Procedure 2 : Check for the moment of inertia on the finger attachment
Make sure all the moments of inertia for the Z-axis (fulcrum) turning on the finger
attachment are within the allowable range. Figure out by dividing to several equations
considering the structure and profile of the finger attachment. For reference, shown below
is an example how to figure out by dividing to two equations.
(1) Moment of inertia for Z1-axis (center of gravity in A) turning (Part A)
m
1
: Mass of A [kg]
a, b, c : Dimensions of A [mm]
m
1
[kg] = a
1
× b
1
× c
1
× Specific gravity × 10
-6
I
Z1
[kg•m
2
] = × 10
-6
(2) Moment of inertia for Z2-axis (center of gravity in B) turning (Part B)
I
Z2
[kg•m
2
] = × 10
-6
m
1
(a
12
+ b
12
)
12
m
2
(a
2
2
+ b
22
)
12
For ordinary work piece transportation;
Necessary gripping force ⇒ 10 to 20 times or more of the work piece
mass
Transportable work piece mass ⇒ 1/10 to 1/20 or less of the gripping
force
When high acceleration/deceleration speed or a big impact is applied;
Necessary gripping force ⇒ 30 to 50 times or more of the work piece
mass
Transportable work piece mass ⇒ 1/30 to 1/50 or less of the gripping
Friction
coefficient
μ
Friction
coefficient
μ
W (m g)
W (m g)
F / 2
F / 3 F / 3
F / 3
F / 2
↓
↓
(Fulcrum)
Z
2
R 2
Z
R
1
Z
1
: Fulcrum Z
: Fulcrum Z
B
a
2
c
2
c
1
b
1
b
2
a
1
A