OnRobot VGC10 User Manual page 144

Hardware Specification
Stiffness Roughness
1 1
5 1
10 1
1 5
5 5
10 5
1 10
5 10
10 10
✓ the gripper can easily pick up the material
* the gripper can pick up the material in some cases (requires caution and testing to verify)
Nothing the gripper cannot pick up this type of material.
NOTE:
This table is to be utilized as a guide to better understand the payload
capacity and substrate type for the Gecko Gripper.
The criteria for stiffness and roughness is a basic scale from 1-10, here are the benchmarks used to
determine the values.
Stiffness Description
1 Flexible
5 Semi-flexible
10 Stiff
Roughness Description
1 Polished/Smooth
5 Textured
10 Rough
Preload - 140N
Example of
Payload [kg]
material
0.1 0.5 1 2 4 6 0.1 0.5 1 2 4 6 0.1 0.5 1 2 4 6
✓ ✓ ✓ *
Mylar
Transparency
✓ ✓ ✓ ✓ *
sheet
Polished
mirror-like
✓ ✓ ✓ ✓ ✓ ✓ ✓
steel, solar
panel
Cling film,
✓ ✓ *
ziploc bags
Glossy
✓ ✓ *
carboard
(cereal box)
Printed circuit
✓ ✓ ✓ ✓ *
board
Laminating
*
plastic / film
Corrugated
cardboard
Sandblasted
aluminum
Example
Fabric
Cardboard
Metal
Example
Polished Metal
Carboard
Sandblasted Metal
Preload - 90N
Payload [kg]
✓ ✓ *
✓ ✓ *
✓ ✓ ✓ ✓ * ✓ ✓ ✓ ✓ *
✓
*
✓
*
✓ ✓ *
RMS Value
0.1 micron
7 microns
28 microns
Preload - 40N
Payload [kg]
✓ *
✓ *
✓ *
✓ *
✓ *
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