Robotiq Hand-E Gripper - Instruction Manual
Payload and force
Actuation force model used to calculate the recommended friction payload (W):
where:
l F is the force that is applied to the load by the Gripper.
l Cf is the friction coefficient between the fingertip and the part load.
l Sf is a safety factor to be determined by the robot integrator.
Fig. 6-9: Actuation force on the fingertip of the Hand-E Gripper
Info
l The Actuation Force is the force that can be applied to an object by the motor of the Gripper.
l The Gripper has a power off brake. This means that when no power goes to the Gripper, the fingers are blocked.
Info
For example, if the silicone fingertips (HND-TIP-SLC-KIT) are used to lift a lubricated steel part (machine tending with cutting
oils), the friction coefficient would be 0.3 (tested static coefficient of friction).
Maximum weight with a safety factor of 2.4 and maximum force would be:
W = (2 x 130 N x 0.3) / 2.4 = 32.5 N
This calculation means that a 3.3 kg part will be held by the Gripper when not moving (standing still). When accelerating, the
payload will decrease.
The biggest factor in such calculations will always be the friction coefficient, we recommend testing the coefficient.
Warning
You must consider the robot acceleration in your payload calculations.
Robot emergency stops will lead to major deceleration velocities.
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