Grippers in Motion - the Fascination of Automated Handling Tasks - Wolf Part 5 pps

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3.2 Gripper Fingers As Operating Elements

Forces are transmitted by gripper fingers, the so-called operating elements of the gripper The amount of force which needs to be applied depends on the body mass, surface friction, and geometry

of the workpiece Workpiece geometry defines criteria such as:

• distance between force induction point and mass center of gravity

• mass moment of inertia

• type of force induction

If gripping force just needs to be transmitted via surface friction, pressure must be put on the workpiece surface For workpieces which easily react to pressure, e g the surface of which is easily deformed or damaged, a maximum pressure must be determined For safety reasons maximum pressure during gripping must be clearly lower than the approved pressure for the respective mate-rial Calculations on maximum pressure for different contact bod-ies are shown in table 3.9 distinguishing point and linear contact between gripper fingers and workpieces

Gripping forces vary according to form and number of active sur-faces between workpiece and gripper fingers In table 3.10 three typical combinations of force-fit gripping are compared The influ-ence of surface types on gripping force is expressed by the respec-tive formule

Differing coefficients of adhesive friction for defined material com-binations are detailed in table 3.11

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