HOW TO CALCULATE FOAM GRIPPER
SAMPLE THEORETICAL FORCE CALCULATION
Vacuum level = -300 mbar
cell width = 11 mm
cell lenght = 13 mm
F = PA
=abs| – 300 / 100 | * 0.785 * ( 1.1 * 1.3 ) cm2
= 3.37 N/Cell
NUMBER OF HITTING CELL
N = number of hitting cell
W = workpiece width
w = cell width
c = overlap (2 – 8)
d = distance cell to cell
N = (W – w – ( 2 * c )) / d
= (150 – 11 – (2 * 4)) / 4.5
= 29 hitting cells
NEED PARALLEL GRIPPER
m = workpiece weight
sf = safety factor
n = number of hitting cell
Ft = theoretical force
parallel gripper = (m * sf * 9.81) / ( n * Ft)
= ( 10 * 2 * 9.81 ) / ( 29 * 3.37)
= 2 grippers
