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Text version of the page
125
DEFINITION OF LOAD M oy M ox L x L x F oy F s F oy (F) s L z (F) s F oz L y F s F oz M oz GPL-...-1GPL-...-2 F
Sperm. [N]see gripping force diagram F
oyperm. [N]7.515 F
ozperm. [N]70120 L
xperm. [mm]5575 L
yperm. [mm]90160 L
zperm. [mm]120200 (L
x + L
y )
perm. [mm]90160 (L
y + L
z )
perm. [mm]120200 (L
z + L
x )
perm. [mm]120200 M
ox perm. = (F
oy .L
z ) + (F
oz .L
y )[Nmm]700022000 M
oy perm. = (F
S .L
z ) + (F
oz .L
x )[Nmm]900037000M
oz perm. = (F
S .L
y ) + (F
oy .L
x )[Nmm]400023000 F
S :Gripping force per gripper finger [N]F
oy , F
oz :Static forces[N]L
x , L
y , L
z :Distances of force application[mm]M
ox , M
oy , M
oz :Static load moments[Nmm] When M
ox , M
oy , M
oz act simultaneously, each may attain its permitted maximum.
DEFINITION OF LOAD M oy M ox L x L x F oy F s F oy (F) s L z (F) s F oz L y F s F oz M oz GPL-...-1GPL-...-2 F
Sperm. [N]see gripping force diagram F
oyperm. [N]7.515 F
ozperm. [N]70120 L
xperm. [mm]5575 L
yperm. [mm]90160 L
zperm. [mm]120200 (L
x + L
y )
perm. [mm]90160 (L
y + L
z )
perm. [mm]120200 (L
z + L
x )
perm. [mm]120200 M
ox perm. = (F
oy .L
z ) + (F
oz .L
y )[Nmm]700022000 M
oy perm. = (F
S .L
z ) + (F
oz .L
x )[Nmm]900037000M
oz perm. = (F
S .L
y ) + (F
oy .L
x )[Nmm]400023000 F
S :Gripping force per gripper finger [N]F
oy , F
oz :Static forces[N]L
x , L
y , L
z :Distances of force application[mm]M
ox , M
oy , M
oz :Static load moments[Nmm] When M
ox , M
oy , M
oz act simultaneously, each may attain its permitted maximum.