ROBO Cylinder GR3LM, Инструкция по эксплуатации

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1. Specifications Check
38
(3) All Moments of inertia for Z-axis (fulcrum) Turning
R
1
: Distance from center of gravity of A to the
finger open/close fulcrum [mm]
R
2
: Distance from center of gravity of B to the
finger open/close fulcrum [mm]
I [kg•m
2
] = (I
Z1
+ m
1
R
1
2
× 10
-6
) + (I
Z2
+ m
2
R
2
2
× 10
-6
)
Confirm that the value figured out in the calculation
above is below the allowable moment of inertia
stated in Table 2.
Procedure 3 : Check for the external force applied on the finger
External force as well as grip force will be applied to the work piece and the finger
attachment in the movements such as moving straight or turning in the condition of the
gripper being attached on a Cartesian Robot, Articulated Robot or other actuators.
(1) Allowable Load Torque
Use the product in a condition that the load torque applied to the fingers is below the maximum
allowable load torque.
R
1
R
2
F
2
F
1
T
0
R
1
R
2
F
2
F
1
T
0
Gripping point
Gripping point
Center of gravity
of the work part
Center of gravity
of the work part
Center of gravity of the finger
attachment
Center of gravity of the finger
attachment
Z : Fulcrum
Z : Fulcrum
m
1
: Mass of the work piece [kg]
m
2
: Mass of the finger attachment [kg]
R
1
: Distance from the center of gravity for the work piece to the finger open/close fulcrum [mm]
R
2
: Distance from the center of gravity for the finger attachment to the finger open/close
fulcrum [mm]
F
1
: External force applied on the work piece [N]
F
2
: External force applied on the finger attachment [N]
T
0
: Torque generated on the fingers due to an external force [N•m]
¡
External force applied on the work piece and the finger attachment
Figure out the following types of external forces applied on the work piece and finger attachment
considering the condition of the gripper use, and sum up all the values.
a) Weight of the work piece and finger attachment
F = mg m : mass of the work piece and finger attachment [kg],
g : gravitational acceleration [=9.8m/s
2
]
b) Inertial force in gripper moving straight
F = ma a : Acceleration/deceleration during transportation [m/s
2
]
c) Centrifugal force in gripper turning
F = mr ω
2
r : Radius of turning [m], ω : Angular velocity [deg/s]
Total External Force
F
1
= m
1
g + m
1
a + m
1
r ω
2
• • • External force applied on the work piece
F
2
= m
2
g + m
2
a + m
2
r ω
2
• • • External force applied on the finger attachment
Table 2: Allowable Moment of Inertia on the Finger
(Note 1)
Model
Allowable Moment of
Inertia
I
max
[kg•m
2
]
Mass
(Reference)
Max [kg]
GRLS 1.5 × 10 -4 0.05
GR3LS 3.0 × 10 -4 0.1
GR3LM 9.0 × 10 -4 0.2
(Note 1) The table shows the values for allowable
moment of inertia, allowable load torque
and allowable thrust load for the static
condition on one finger.