OnRobot RG6 - Page 127

Hardware Specification
127
Stiffness
Roughness
Example of
material
Preload - 140N
Preload - 90N
Preload - 40N
Payload [kg]
Payload [kg]
Payload [kg]
0.1
0.5
1
2
4
6
0.1
0.5
1
2
4
6
0.1
0.5
1
2
4
6
1
1
Mylar
✓
✓
✓
*
✓
✓
*
✓
*
5
1
Transparency
sheet
✓
✓
✓
✓
*
✓
✓
*
✓
*
10
1
Polished
mirror-like
steel, solar
panel
✓
✓
✓
✓
✓
✓
✓
✓
✓
✓
✓
*
✓
✓
✓
✓
*
1
5
Cling film,
ziploc bags
✓
✓
*
✓
*
✓
*
5
5
Glossy
carboard
(cereal box)
✓
✓
*
✓
*
✓
*
10
5
Printed circuit
board
✓
✓
✓
✓
*
✓
✓
*
✓
*
1
10
Laminating
plastic / film
*
5
10
Corrugated
cardboard
10
10
Sandblasted
aluminum
✓ the gripper can easily pick up the material
* the gripper can pick up the material in some cases (requires caution and testing to verify)
Nothing the gripper cannot pick up this type of material.
NOTE:
This table is to be utilized as a guide to better understand the payload
capacity and substrate type for the Gecko Gripper.
The criteria for stiffness and roughness is a basic scale from 1-10, here are the benchmarks used to
determine the values.
Stiffness
Description
Example
1
Flexible
Fabric
5
Semi-flexible
Cardboard
10
Stiff
Metal
Roughness
Description
Example
RMS Value
1
Polished/Smooth
Polished Metal
0.1 micron
5
Textured
Carboard
7 microns
10
Rough
Sandblasted Metal
28 microns