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Getting To Grips With Handling Tasks
3
3.2 Gripper Fingers As Operating Elements

Forces are transmitted by gripper fingers, the so-called operating
elements of the gripper. The amount of force which needs to be
applied depends on the body mass, surface friction, and geometry
of the workpiece. Workpiece geometry defines criteria such as:

• distance between force induction point and mass center of gravity
• mass moment of inertia
• type of force induction

If gripping force just needs to be transmitted via surface friction,
pressure must be put on the workpiece surface. For workpieces
which easily react to pressure, e. g. the surface of which is easily
deformed or damaged, a maximum pressure must be determined.
For safety reasons maximum pressure during gripping must be
clearly lower than the approved pressure for the respective mate-
rial. Calculations on maximum pressure for different contact bod-
ies are shown in table 3.9 distinguishing point and linear contact
between gripper fingers and workpieces.
Gripping forces vary according to form and number of active sur-
faces between workpiece and gripper fingers. In table 3.10 three
typical combinations of force-fit gripping are compared. The influ-
ence of surface types on gripping force is expressed by the respec-

tive formule.
Differing coefficients of adhesive friction for defined material com-
binations are detailed in table 3.11.
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