OnRobot HEX-E QC User Manual page 215

HARDWARE SPECIFICATION
Leaking vacuum cup lips
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Leaking workpieces
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The smallest leak under a vacuum cup can be hard to find (see picture below).
Leaking workpieces can be even harder to identify. Things that look completely tight might
not be tight at all. A typical example is coarse cardboard boxes. The thin outer layer is often
requiring a lot of air flow to create a pressure difference over it (see figure below).
Therefore, the users must be aware of the following:
VG grippers are not suitable for most uncoated, coarse cardboard boxes.
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Extra attention must be paid to leakages, e.g. vacuum cup shape and surface roughness
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The air flow capability of a VG grippers is shown in the graph below:
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