© Dr. Steve Rapp

Calculating Gripper Payload and
Gripping Force

¬Considerations:

¬Torque: depends on the thickness of the part, the width of the jaws, distance from center of gravity.

¬Center of gravity: point where mass is
concentrated.

¬Coefficient of friction: measures how efficiently the gripper holds the part.

¬Acceleration or deceleration: rate of change of velocity
of the part.

¬Safety factor: fudge factor to counteract unforeseen factors.