External Tool Finishing Kit - Instruction Manual
Info
For example, if the silicone fingertips (HND-TIP-SLC-KIT) are used to lift a lubricated steel part (machine tending with cutting
oils), the friction coefficient would be 0.3 (tested static coefficient of friction).
Maximum weight with a safety factor of 2.4 and maximum force would be:
W = (2 x 130 N x 0.3) / 2.4 = 32.5 N
This calculation means that a 3.3 kg part will be held by the gripper when not moving (standing still). When accelerating, the
payload will decrease.
The biggest factor in such calculations will always be the friction coefficient, we recommend testing the coefficient.
Warning
You must consider the robot acceleration in your payload calculations.
Robot emergency stops will lead to major deceleration velocities.
Maximum payload/ External force vs. Custom finger design
The maximum payload force recommended depends on the distance on the Z-axis at which the force/ payload (F) is applied when using
custom fingers on the Hand-E gripper.
Fig. 5-8: Z-axis offset at which force/ payload is applied (tip of the finger, in the middle of the inner surface)
