7
3-2. Gripping force
External gripping state Indication of effective gripping force
The gripping force shown in the graph to the right
represents the gripping force of one finger when
all fingers and attachments are in contact with the workpiece.
Internal gripping state Indication of effective gripping force
The gripping force shown in the graph to the right
represents the gripping force of one finger when all
fingers and attachments are in contact with the workpiece
.
G
ri
pp
ing
Fo
rce
F
(N
)
Gripping
Point L
(mm)
G
ri
pp
ing
Fo
rce
F
(N
)
Gripping
Point
L
(mm)
