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