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The following symbols are important for calculations:

Relevant symbols and their meaning

a acceleration

aR radial acceleration

overall rotary specs

at tangential acceleration

aNA emergency stop acceleration

az central acceleration

A plane

B magnetic induction

D diameter

E elasticity module

F force

FC Coriolis force

FG gripping force

FH force to lift

FNA emergency stop force

FS force to fall

FR resulting force

FV force to displace

FZ centrifugal force

G weight

g acceleration of the earth

k correction factor I,L lengths of links

M moment

m mass

p normal pressure

PO over-pressure

PU under-pressure

r radius

s distance

S security factor

t time

v velocity, translation

α jaw opening angle

β auxiliary angle

ϕ friction angle

ς opening angle

μ rotary angle

μ friction value

ω permeability

ω⋅ angle velocity, rotary velocity

Effects of The Forces of Inertia

The forces of inertia result from acceleration of the workpiece`s

mass

F= ma

F= force [N], m = mass of the workpiece [kg], a = acceleration [m/s 2 ]

These forces must overlap the forces which result from the

accel-eration of the earth, in order to calculate the force required for

force-fit gripping Profound knowledge of the movements performed

by the gripper permits a competent decision on the gripper

con-struction The following overview includes the necessary steps

for analyzing workpiece kinetics and calculating the corresponding

gripping force

173





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These forces must overlap the forces which result from the

accel-eration of the earth, in order to calculate the force required for

force-fit gripping Profound knowledge of the. ..

Effects of The Forces of Inertia

The forces of inertia result from acceleration of the workpiece`s

mass

F= ma

F= force [N], m = mass of the. ..

by the gripper permits a competent decision on the gripper

con-struction The following overview includes the necessary steps

for analyzing workpiece kinetics and calculating the