OnRobot HANWHA 3FG15 User Manual page 114

Hardware Specification
Number of Cups needed for non-porous materials depending on payload and vacuum:
NOTE:
To use more than 7 (15mm), 4 (30mm) or 3 (40mm) vacuum cups
with the VGC10 a customized adaptor plate is needed.
The table above is created with the following formula that equalizes the lifting force with the
payload considering 1.5G of acceleration.
It is often a good idea to use more vacuum cups than needed, to accommodate for vibrations,
leaks and other unexpected conditions. However, the more vacuum cups, the more air leakage
(air flow) is expected and the more air is moved in a grip resulting in longer gripping times.
When using porous materials, the vacuum that can be achieve by using the OnRobot suction
cups will depend on the material itself and will be between the range stated in the
specifications. Some of the most common non-porous materials are listed below:
• Fabrics
• Foam
• Foam with open cells
• Low density cardboard
• Low density paper
Amount ∗ Area
Cups Cup
Payload [kg]
[mm] = 14700
Vacuum [kPa]
114