OnRobot HANWHA 3FG15 User Manual page 125

Hardware Specification
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
• Perforated materials
• Untreated wood
See the table below with general recommendations, in case other suction cups are needed for
specific materials.
Workpiece surface
Hard and flat
Soft plastic or plastic bag
Hard but curved or uneven
To be painted afterwards
Varying heights
NOTE:
It is recommended to consult a vacuum cup specialist to find the
optimal vacuum cup where the standard types are insufficient.
Fittings and Blind Screws.
It is possible to change suction cups simply by pulling them off the fittings. It might be a bit
challenging to remove the 15 mm Diameter vacuum cups. As suggestion try to stretch the
silicon to one of the sides and then pull it out.
Unused holes can be blinded using a blind screw, and each fitting can be changed to a different
type to match the desired suction cup. The fittings and the blinding screws are mounted or
dismounted by screwing (2Nm tightening torque) or unscrewing them with the provided 3 mm
Allen key.
Amount ∗ Area
Cups Cup
Vacuum cup shape
Normal or dual lip
Special plastic bag type
Thin dual lip
Any type
1.5 or more bevels
Payload [kg]
[mm] = 14700
Vacuum [kPa]
Vacuum cup material
Silicone or NBR
Special plastic bag type
Silicone or soft NBR
NBR only
Any type
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