Page 134 - RoboCilindri, RCP2-RCP3, robocilindri, sinta,

Selection Guide (Gripping Force)Step 3 Checking external force applied to finger (1) Allowable vertical loadConfirm that the vertical load applied to each finger is the allowable load or less.(2) Allowable load momentCalculate Ma and Mc using L1 and Mb using L2. Confirm that the moment applied to each finger is the maximum allowable load moment or less.Allowable external force when the moment load is applied toeach claw:Allowable load F (N) > L (mm) x 10-3Calculate the allowable load F (N) using both of L1 and L2.Confirm that the external force applied to finger is the calculated allowable load F (N) (L1 or L2, whichever is smaller) or less.1. The allowable value ky above shows a static value. 2. The allowable value per finger is shown.MaMcMbL2FModelAllowable vertical load F (N)Maximum allowable load moment MaMbMcRCP2-GRSS600.50.51.5RCP2-GRS2536.36.37.0RCP2-GRM2536.36.38.3RCP2-GRST2752.932.935.0RCP2-GR3SS1693.83.83.0RCP2-GR3SM2536.36.35.7* Finger weight and work part weight are also a part of the external force. Centrifugal force when the gripper rotated gripping a work part and inertial force due to acceleration or deceleration when moving are also the external force applied to the finger.Technical Reference/Information Appendix: - 76L1