IAI America RCP2W-GRLS User Manual
Page 120
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1. Appendix
Note 1: The upper limits of L
G
and H
G
shall conform to the graph below. If they exceed the limit ranges
specified, an excessive moment will act upon the finger sliding areas and internal mechanical
parts and the life of the actuator may be negatively affected.
Two-finger gripper
Fig. 2 Upper Limits of Gripping Point L
G
and Overhang H
G
of Two-finger Gripper
Gripping point H
G
(mm)
Three-finger gripper
RCP2-GR3SS
L50 mm or less
RCP2-GR3SM
L80 mm or less
Note 2: All allowable loads and allowable moments indicate static values per finger.
Note 3: Each allowable moment assumes that a load is received in one direction only.
• If a load is received simultaneously in two directions, divide the specified value by 2.
• If a load is received simultaneously in three directions, divide the specified value by 3.
Note 4: For the gripping force F
G
, refer to the graphs of “correlation between current-limiting value and
gripping force” in 5.3, “Adjusting the Gripping Force.” Note, however, that the relationships
illustrated here are provided for reference purposes only and actual values will vary. Accordingly,
in moment calculations each applicable gripping force read off from a graph should be multiplied
by a coefficient of 1.5 by anticipating variation in the gripping force.
Note 5: Select finger attachments that are as small and light as possible within the allowable ranges. If the
fingers are long and large or heavy, moments may generate due to impact upon gripping of the
work part and consequently the actuator performance may drop or guide may be negatively
affected.
Ove
rha
ng H
G
(mm)
Fig. 3 Upper Limit of Gripping Point L
G
of
Three-finger Gripper