OnRobot HEX-E QC User Manual page 204

HARDWARE SPECIFICATION
Soft Silicone
Some SG tool designs has a soft silicone part in the top of the gripper. These tools are better
suited for handling fragile workpieces and/or workpieces with a high variance in size,
compared to the hard silicone tools. This is due to the more "forgiving" nature of the soft part.
The user may experience a reduced payload compared to the hard silicone tools.
To handle a workpiece properly, the user must know some parameters that are defined by the
general conditions of the workpiece and its presentation in the application. This helps to
define which tool to choose and the actual grip width on it.
A general overview of such parameters is listed below:
Shape
•
Dimension
•
Weight
•
Roughness
•
Fragility
•
Orientation of pick/placement
•
For a better understanding of how to handle workpieces with different parameters, tests were
conducted with a SG-a-H tool, see table below.
Example of Workpiece
material
Smooth wood Round stick
(Sanded)
Polished metal Aluminum cube
Rough metal Aluminum
cylinder
Plastic PET Bottle
POM-C
POM-C
Glass Drinking glass
Organic material Tomato
Mushroom
Grape
Carbonfiber Carbonfiber
cylinder
Notice objects with high weight needs higher force asserted upon them, therefor the small
gripping width.
204
Dimension Weight Roughness Shape
27mm 32g 5
35x25mm 512g 1
60mm 490g 8
65mm 431g 1
50mm 221g 2
50mm 1410g 2
68mm 238g 1
54mm 92g 2
40mm 8g 10
20mm 7g 10
38mm 48g 7
Actual
gripping
width
Cylinder 20mm
Square 15mm
Cylinder 55mm
Cylinder 50mm
Cylinder 42mm
Cylinder 15mm
Cylinder 50mm
Round 53mm
Round 39mm
Oval 16mm
Cylinder 29mm