IAI America RCLE-GR5L - Manual (Page 24)

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Note :
Ɣ Set the distance from the attachment surface of the finger attachment to the holding point (L)
equal or less than the value specified below.
Ɣ Attempt to have the finger attachments attached to the unit as small and light as possible. If
the finger attachments are long and big or the weight is large, the inertial force and the
bending moment at open and close of the fingers may cause a drop of the performance or a
malfunction of the guide part.
Ɣ Each finger has a play of 1
q to all of M
a
, M
b
and M
c
directions.
6.3 Moving Direction and Attachment Orientation of Unit
Pay attention to the movement direction and the attachment orientaion of the unit.
In case the moving direction of the unit is the same as the movements of the fingers and if the
acceleration is high and the inertial force exceeds the reaction force of the finger springs, the
fingers may move.
Reference of Acceleration Exceeding Spring Reaction Force (assuming total weight of left and right
finger attachments is 20g and work part is 10g)
When holding the work part, the acceleration of the finger movements may differ depending on the
weight of the finger attachments and that of the work part.
Holding Point (L)
Ÿ 20mm or less
᎓
Finger Stroke Acceleration
0mm 0.8G
1mm 1.3G
2mm 1.8G
3mm 2.3G