Gripping Force And Finger Speed - WEISS ROBOTICS CRG Series Mounting And Operating Manual

Figure 2: Determination of the finger length "L". Left: straight fingers, right: angled fingers

5.1.2 Gripping Force and Finger Speed

The gripping force can be set as a percentage of the nominal gripping force. The recommended minimum
gripping force is 50% of the nominal gripping force.
The gripping module sets the finger speed depending on the parameterized gripping force, see Figure 3. This
minimizes the gripping impulse and rebound effects during undamped gripping. The gripping speed can be
increased or decreased manually (and thus adjusted to the part that is being gripped) via the central override
parameter (gray area; see also chapter 8.2.3.1). To ensure proper movement of the fingers, the minimum
possible gripping speed is limited to 10 mm/s.
Figure 3: Gripping speed depending on the parameterized gripping force
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