Page 136 - RoboCilindri, RCP2-RCP3, robocilindri, sinta,

Selection Guide (Gripping Force)(3) All moments of inertia around the Z axis (fulcrum)R1 : Distance from the center of gravity of A to the finger opening/closing fulcrum [mm]R2 : Distance from the center of gravity of B to the fingeropening/closing fulcrum [mm] 222I [kg m ] = (IZ1 + m1R1 ) + (IZ2 + m2R2 )ModelAllowable moment of inertia [kg m2]Weight (Reference) [kg]RCP2-GRLS1.5×10−40.07RCP2-GR3LS3.0×10−40.15RCP2-GR3LM9.0×10−40.5Z: FulcrumStep 3 Checking external force applied to the finger (1) Allowable load torqueConfirm that the load torque applied to the finger is the maximum allowable load torque or less.The load torque is calculated by finger and work part weight as stated below.m1 : R1 :m2 : R2 :Work part weightDistance from the center of gravity of work part to the finger opening/closing fulcrumClaw weightDistance from the center of gravity of the claw to the finger opening/closing fulcrumW1W2Z: FulcrumT = (W1 x R1) + (W2 x R2) + (other load torque)= (m1g x R1) + (m2g x R2) + (other load torque)* Centrifugal force when the gripper rotated gripping a work part and inertialforce due to acceleration or deceleration when moving horizontally are alsothe load torque applied to the finger. If applicable, confirm that the totaltorque including the torque above is the maximum allowable load torque or W1 less.W2R2 R1R2 R1Z: Fulcrum(2) Allowable thrust loadConfirm that the thrust load of finger opening/closing the axis is the allowable load or less.F = W1 + W2 + (other thrust load)= m1g + m2g + (other thrust load)FW2 W1ModelMaximum allowable load torque T [N m]Allowable thrust load F [N]RCP2-GRLS0.0515RCP2-GR3LS0.15–RCP2-GR3LM0.4–Technical Reference/Information Appendix: - 78