Fig. 5-9: Graph illustrating Maximum Payload/ External Force vs. Z-Offset on Custom finger
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The blue curve in the graph represents the maximum force/ payload (F) recommended at given Z offset for a custom finger design
mounted directly on the rack with two (2) M3 screws.
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The red curve in the graph represents the maximum force/ payload (F) recommended at given Z offset for a custom finger design
mountend on a fingertip holder with two (2) M3 screws.
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The yellow curve in the graph represents the maximum force/ payload (F) recommended at given Z offset for a custom finger design
mounted directly on the rack with three (3) M3 screws.
Info
The data is calculated at the resulting position of the force applied, based on the strength of the M3 screws used. The
maximum grasping force is included in the calculation; it represents the maximum force that can be added to the finger
(payload force + external force).
Warning
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Fatigue stress has not been taken into consideration in the calculations.
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Robot acceleration and safety factor have not been taken into consideration in the calculations.
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