Preparing the published article.
Gripper Force Control
Enough force to hold, not enough to deform.
Setting the force
| Factor | Consideration |
|---|---|
| Part stiffness | Thin walls deform before they slip |
| Surface and friction | Coating, oil and dust change grip |
| Acceleration | Dynamic loads exceed static weight |
| Redundancy | Mechanical retention in case of air or power loss |
| Sensing | Confirm grip rather than assume it |
Verification
- Test at the highest acceleration the cycle uses.
- Include a part-present check to avoid gripping air.
- Re-check after changing part supplier or surface finish.
Grip settings should be recorded with the program and reviewed after any change to the part.