IAI America RCP2W-GRLS - Manual (Page 77)

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6. Notes on Use
6.4 Guide to Determining Maximum Work Part
The maximum work part mass that can be transferred by the gripper will vary depending on the coefficient
of friction determined by the finger material and work part material, and also depending on the shape of
the work part. Normally, the work part should weigh between 1/10th to 1/20th the gripping force.
If the work part is subject to significant acceleration/deceleration or impact during transfer, an additional
safety factor should be considered (such as setting its weight between 1/30th to 1/50th the gripping force).
6.5 Distance between Finger Attachment and Gripping Point, and Finger Shape
The distance (L) between the finger installation surface and the gripping point should not exceed the
dimensions specified below.
RCP2-GRSS, RCP2CR-GRSS, RCP2W-GRSS, RCP2-GRLS
Ÿ 40 mm max.
RCP2-GRS/ GR3SS, RCP2-GR3LS
Ÿ 50 mm max.
RCP2-GRM/GR3SM, RCP2-GR3LM
Ÿ 80 mm max.
RCP2-GRST
Ÿ 60 mm max.
RCP2-GRHM, RCP2-GRHB
Ÿ 90 mm max.
Minimize the size and weight of the fingers attached to the gripper. The finger’s size and shape must
assure that the load applied to the guide due to gripping force does not exceed allowable load moment
(Ma, Mb, Mc). Long, large and/or heavy fingers may reduce the gripper performance or negatively affect
the guide function due to the inertial force and flexural moment generated when the fingers open and
close.
Caution Note
x
IAI does not guarantee the precision of relationship between push force (gripping force) and current-
limiting value. The above values are provided only for reference.
x
If the push force is too small, the push force itself may fluctuate or the gripper may malfunction due
to slide resistance, etc. The current-limiting value should not be below 20%.
x
Minimize the size and weight of the fingers. Long, large and/or heavy fingers may reduce the
gripper performance or negatively affect the guide function.