Gripper Pad Coefficient of Friction Coefficient of Part Material

in which steel fingers grip a steel part is

conjunction with tooling weight and robot

Steel

Aluminum

acceleration to calculate the required

additional friction for those applications in

Steel Fingers

.28

.32

grip force for a specific application. The

which grip force and finger friction are not

.53

.78

following formula can be applied when

sufficient to grasp the part. The coefficient

.48

.87

attempting to determine the approximate

of friction for two sample part materials

.52

.76

minimum grip force for an application.

estimated as .28. Gripper pads provide

was calculated for the three gripper pads types in the chart listed here.

Finger Material

The coefficient of friction is used in

was placed between two 72 square inch

The coefficients of friction determined in

200 lbs was applied perpendicular to the

the chart are application dependent. The

contact area. All surfaces were clean and

test results were generated under ideal

dry. In other situations the coefficient may

laboratory conditions. Actual performance

be lower due to lubricants introduced into

may differ. In this test situation a metal

the system; or much higher if the rubber

sheet with a 63 microinch ground finish

is able to conform to the part.

P/N

A**

B**

C

Dimensions mm (inches) D

E

Notes

application. Grip Force (lbs) =

The weight of the tooling (lbs)

_______________

The coefficient of friction

Dimensions mm (inches)

P/N

A**

B**

P/N

A**

B**

GP-702-1A 304.8 (12.0)

152.4 (6.0)

13.5 10.2 (0.53) (0.40)

3.3 w/Steel (0.13) backplate

GP-701-1

304.8 (12.0)

152.4 (6.0)

12.7 9.4 (0.50) (0.37)

3.3 w/Steel (0.13) backplate

GP-801-1

304.8 (12.0)

152.4 (6.0)

13.5 10.2 (0.53) (0.40)

3.3 w/Steel (0.13) backplate

GP-704-1A 304.8 (12.0)

152.4 (6.0)

6.4 (0.25)

4.8 (0.19)

1.5 w/Alum. (0.06) backplate

GP-703-1

304.8 (12.0)

152.4 (6.0)

6.4 (0.25)

4.8 (0.19)

1.5 w/Alum. (0.06) backplate

GP-803-1

304.8 (12.0)

152.4 (6.0)

6.4 (0.25)

4.8 (0.19)

1.5 w/Alum. (0.06) backplate

GP-706-1A 304.8 (12.0)

152.4 (6.0)

n/a n/a

6.4 (0.25)

n/a n/a

GP-705-1

304.8 (12.0)

152.4 (6.0)

n/a n/a

6.4 (0.25)

GP-805-1

304.8 (12.0)

152.4 (6.0)

n/a n/a

6.4 (0.25)

n/a n/a

GP-706-2A 304.8 (12.0)

152.4 (6.0)

n/a n/a

3.3 (0.13)

n/a n/a

GP-805-2

304.8 (12.0)

152.4 (6.0)

n/a n/a

3.3 (0.13)

n/a n/a

*No metal plate **Elastomer only pads may show some dimensional contraction. Use A=11 5/8” and B=5 3/4” actual for planning

C

may be required depending upon the

Robotic Crash Protection

Dimensions mm (inches)

Note: An additional safety factor of 10X

D

E

n/a n/a

Notes

*No metal plate **Elastomer only pads may show some dimensional contraction. Use A=11 5/8” and B=5 3/4” actual for planning

C

Compliance Devices

Robotic Grippers

The coefficient of friction for an application

D

E

Notes

*No metal plate **Elastomer only pads may show some dimensional contraction. Use A=11 5/8” and B=5 3/4” actual for planning

pfa-inc.com Modular End-Of-Arm Automation by PFA, Inc. 11

PFA Modular End-of-Arm Automation Catalog
PFA Modular End-of-Arm Automation Catalog