WEISS ROBOTICS GRIPKIT CR EASY Manual page 10

5.1.1 Permissible finger length
The permissible finger length L corresponds to the distance between the screw-on surface of the base
jaw and the effective gripping force application point, see Figure 3. Maximum values for L can be taken
from the mechanical nominal data of the size used.
If the maximum finger length is exceeded, a reduction of the gripping force is mandatory.
In addition, this can shorten the service life of the gripping module.
Figure 3: Determination of finger length L. Left: straight fingers, right: cranked 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 25% of the nominal gripping force.
5.1.3 Cycle times
The following diagrams show the typical course of the gripping duration and the release duration for
different gripping force settings.
The values shown indicate the typical duration from the processing of the command at
the gripping module to the change of the gripping state. The actual duration varies
depending on the gripping part (rigid or elastic), finger weight, grip height, etc.
For a more precise estimation of the possible cycle times, tests must be carried out in
individual cases.
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