IAI America RCLE-GR5L - Manual (Page 35)

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(2) Moment generated on fingers by external force
When applying the gripper to Orthogonal, Articulated or other actuator and moving straight
or turning, there is an external force other than holding force applied to the work part and
finger attachments.
Ƈ External force applied to the work part and finger attachments [F
X
, F
Y
and F
Z
]
Calculate the external force below for the three directions X, Y and Z applied to the work
part and finger attachments based on the usage condition and sum up the numbers.
a) Weights of the work part and finger attachments
F = mg m : Weights of the work part and finger attachments,
g
: Gravitational acceleration
b) Inertial force when gripper is moving straight
F = ma a : Acceleration when moving
c) Centrifugal force when gripper is turned
F = mr
Z 2
r : Radius of turn,
Z : Angular velocity
Make sure that F
Z
is below F
Zmax
, the allowable load in vertical direction shown in Table 1.
Ƈ Moment generated on the fingers by an external force
Calculate the moment in each direction by the external forces F
X
, F
Y
and F
Z
.
1) Moment in M
a
direction [M
Oa
]
M
Oa
L
C
F
X
2) Moment in M
b
direction [M
Ob
]
M
Ob
H
C
F
X
3) Moment in M
c
direction [M
Oc
]
M
Oc
L
C
F
Y
 H
C
F
Z
(3) All the moments in each direction applied to the fingers
M
a
M
Ia
 M
Oa
, M
b
M
Ib
 M
Ob
, M
c
M
Oc
Confirm the calculated number is below the value for the allowable load moment shown in
Table 1.
Note : Even if the finger attachments are within the allowable range, attempt to have them as
small and light as possible. If the fingers are long and large or the weight is high, it may
cause a drop in performance or badly influence the guide part due to the moment
caused by the impact due to gripping the work part.