Appendix Table A3.
Gripper Head Specifications
| 3.5-inch head | 6.5-inch head | |
|---|---|---|
| Head diameter | 3.5 inch (9 cm) | 6.5 inch (16.5 cm) |
| Head weight | 1.3 lb (0.6 kg) | 5.3 lb (2.4 kg) |
| Total EOAT weight (base+head) | 2.4 lb (1.1 kg) | 6.4 lb (2.9 kg) |
| Head size (standalone) | 3.5 × 3.5 × 3.8 inch (8.9 × 8.9 × 9.7 cm) | 6.5 × 6.5 × 6.5 inch (16.5 × 16.5 × 16.5 cm) |
| Total EOAT size (base+head) | 3.5 × 4.7 × 5.3 inch (8.9 × 11.9 × 13.5 cm) | 6.5 × 6.5 × 8.0 (16.5 × 16.5 × 20.3 cm) |
| Air use per gripa | ∼0.02 ft3/grip (∼0.6 L/grip) | ∼0.1 ft3/grip (∼2.8 L/grip) |
| Head life cyclea | 20,000–60,000 grips | |
| Operating temperature | ∼33°F–160°F (∼1°C–71°C) | |
| Max tangential payloada | ∼20 lb (89 N) | ∼40 lb (178 N) |
| Retention (pull-out) forcea | ∼0–10 lb (∼0–44 N) | ∼0–20 lb (∼0–89 N) |
| Required contact (deformation) forcea | ∼5–15 lb (∼22–66 N) | ∼10–20 lb (∼44–89 N) |
| Pinching pressure on objecta | ∼5 psi (35 kPa) | ∼7 psi (48 kPa) |
| Grip time (evacuation to 20 inHg) | 0.1 s | 0.7 s |
| Sealed vacuum hold time | Greater than 3 min | |
| Release timea | ∼0.15 s | ∼1 s |
| Placement precision (linear)a | ∼± 0.03 inch (0.7 mm) | |
| Placement precision (angular)a | ∼± 2° (0.03 rad) | |
| Target object size rangea | ∼50% head diameter ± 20% | |
| Shelf life | Heads are marked with a use-by date. Typical shelf life is 12 months | |
a
Depends heavily on object geometry, surface properties, and programming practices.
EOAT, end-of-arm-tool.