Gripping force calculation for parallel grippers

Determine the correct gripping force and select the right gripper.

The gripping force is the arithmetic sum of the individual forces acting on the gripper’s fingers: The CGS-2-64-1 parallel gripper shown below therefore has a gripping force of

F_G= 147.5 N + 147.5 N = 295 N

Example: parallel gripper CGS-2-64-1:

Specification = 295 N (at 6 bar)
Acting force per finger = 147.5 N

Example calculation of handling weight

Specification of recommended handling weight= 1.475 kg
based on a friction-locked connection.

F_G = arithmetic summ (N)
m = workpiece weight (kg)
g = gravitation (10 m/s²)
a = acceleration (m/s²) = 0
S = safety factor = 2
μ = coefficient of friction (stell on steel “slightly oiled”) = 0.1

Operating Principles of Grippers

Friction-locked

The workpiece is held between the gripper’s fingers only by frictional forces.

Example: parallel gripper CGS-2-64-1:

Cataloge specification = 295 N (at 6 bar)
Acting force per finger = 147.5 N

Form-closed

The workpiece is held by a form-fitting of mechanical connection. The frictional forces are only partially or not at all effective.

Example: parallel gripper CGS-2-64-1:

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Gripping force calculation for parallel grippers

FG= 147.5 N + 147.5 N = 295 N

Example: parallel gripper CGS-2-64-1:

Operating Principles of Grippers

Example: parallel gripper CGS-2-64-1:

Example: parallel gripper CGS-2-64-1:

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F_G= 147.5 N + 147.5 N = 295 N