OnRobot HANWHA 3FG15 User Manual page 107

Hardware Specification
How to handle a workpiece
With the elastic silicone SG tools, the gripper can handle a wide range of workpieces, for a high
number of applications. Different tool designs have some overlap in capability when ha ndling
the same workpiece, but the tools have different characteristics and do have individual
effectiveness on a given workpiece.
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
material
Smooth wood
(Sanded)
Polished
metal
Rough metal
Plastic
Glass
Organic
material
Carbonfiber
Notice objects with high weight needs higher force asserted upon them, therefor the
small gripping width.
Workpiece Dimension Weight
Round stick 27mm
Aluminum
35x25mm 512g
cube
Aluminum
60mm
cylinder
PET Bottle 65mm
POM-C 50mm
POM-C 50mm
Drinking
68mm
glass
54mm
Tomato
Mushroom
40mm
Grape
20mm
Carbonfiber
38mm
cylinder
Roughness Shape
32g 5
1
490g 8
431g 1
221g 2
1410g 2
238g 1
2
92g
8g
10
7g
10
48g 7
Actual
gripping
width
Cylinder 20mm
Square 15mm
Cylinder 55mm
50mm
Cylinder
Cylinder
42mm
Cylinder
15mm
Cylinder 50mm
Round 53mm
Round 39mm
Oval 16mm
Cylinder 29mm
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