Hardware Specification
87
𝑁𝑢𝑚𝑏𝑒𝑟 𝑜𝑓 𝑐𝑢𝑝𝑠 =
𝑚∙𝑎
𝐹
𝑐𝑢𝑝
=
[𝑘𝑔]∙[𝑚
𝑠
2
⁄ ]
[𝑁]
=
10∙2∙9.81
12.2
=
16 vacuum cups
It is often a good idea to use more vacuum cups than needed, to accommodate for vibrations, leaks and
other unexpected conditions. However, the more vacuum cups, the more air leakage (air flow) is expected
and the more air is moved in a grip resulting in longer gripping times.
Vacuum
Vacuum is defined as the percentage of absolute vacuum achieved relative to atmospheric pressure, i.e.:
The vacuum percentage setting is the target vacuum. The pump will run at full speed until the target
vacuum is achieved, and then run at a lower speed necessary to maintain the target vacuum.
The pressure in the atmosphere varies with weather, temperature and altitude. The VG10 automatically
compensates for altitudes up to 2km, where the pressure is about 80% of sea level.
Air flow
Air flow is the amount of air that must be pumped to maintain the target vacuum. A completely tight
system will not have any air flow, whereas real life applications have some smaller air leakages from two
different sources:
•
Leaking vacuum cup lips
•
Leaking workpieces
The smallest leak under a vacuum cup can be hard to find (see picture below).
% vacuum
Bar
kPa
inHg
Typically used for
0%
0.00rel.
1.01 abs.
0.00rel.
101.3 abs.
0.0rel.
29.9 abs.
No vacuum / No lifting capacity
20%
0.20rel.
0.81 abs.
20.3rel.
81.1 abs.
6.0rel.
23.9 abs.
Cardboard and thin plastics
40%
0.41rel.
0.61 abs.
40.5rel.
60.8 abs.
12.0rel.
18.0 abs.
Light workpieces and long suction cup life span
60%
0.61rel.
0.41 abs.
60.8rel.
40.5 abs.
18.0rel.
12.0 abs.
Heavy workpieces and strongly secured grips
80%
0.81rel.
0.20 abs.
81.1rel.
20.3 abs
23.9rel.
6.0 abs.
Max. vacuum. Not recommended
Summary of Contents for DOOSAN Gecko Gripper
Page 1: ...USER MANUAL FOR DOOSAN ROBOTS ORIGINAL INSTRUCTION EN v1 02...
Page 79: ...Hardware Specification 79 RG2 Gripping Speed Graph RG2 Work Range...
Page 82: ...Hardware Specification 82 RG6 Gripping Speed Graph RG6 Work Range...
Page 93: ...Hardware Specification 93 RG2 FT All dimensions are in mm and inches...
Page 94: ...Hardware Specification 94 RG2 All dimensions are in mm and inches...
Page 95: ...Hardware Specification 95 RG6 All dimensions are in mm and inches...
Page 96: ...Hardware Specification 96 VG10 All dimensions are in mm and inches...
Page 97: ...Hardware Specification 97 All dimensions are in mm and inches...
Page 98: ...Hardware Specification 98 Quick Changer Tool side All dimensions are in mm and inches...
Page 104: ...Certifications 104 10 Certifications...
Page 105: ...Certifications 105...
