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yrg-2013t 2820t 4230t - 1 Pages

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Catalogue excerpts

Three fingers type I Gripping power vs. gripping power setting (%) Model name Gripping power setting (%)    Gripping power setting (%) • Graph shows a general guide to gripping power versus gripping power setting (%). Variations will appear in the actual gripping power. • Hoding power control : 30 to 100% (1% steps) • Speed control    : 20 to 100% (1% steps) • Acceleration control : 1 to 100% (1% steps)    • Multipoint position control : 10,000 max. Note. Design the finger as short and lightweight as possible. Note. Set the parameters and holding power (%) of the holding movement command so that any excessive shock is not applied to the finger during operation. Note. When installing or uninstalling the finger, tighten the bolts while the finger is being held securely so that any excessive force or shock is not applied to the guide block. Note. Workpiece weight that is able to be held may greatly vary depending on the material, shape, and/or holding surface conditions of the finger. Note 1. Design the weight of a workpiece to be held so that it is approximately 1/10 to 1/20 of the holding power. (Consider further allowance when moving and swinging the gripper that keeps holding a workpiece.) • When the external forces Fa and Fb are applied to a potion the distance (L) apart from the finger installation surface, the load (F) and moment (M) are calculated from the formulas shown below. Fa : External force [N] Fb : External force [N] W : Workpiece weight [Kg] g : Gravity acceleration [m/s2] H : Distance of holding point [m] F = Fa + W x g M = Fb x L F : Load[N] M : Moment [N^m] L : Distance of point of external force application [m]

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