Dr. Steve Rapp
Calculating Gripper Payload
and Gripping Force
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