GRS - PHD, Inc · grip imperial 0.83 0.59 0.93 0.59 1.33 0.86 2.8 1.9 4.7 3.5 metric 54 38 60 38 86 56 181 123 303 226 grip force factor gf 27 28 32 50 63 specifications operating

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121

SIZE06

See SOLUTION BOOK 2006 (CAT-06) for ordering, dimensional, and options data.

GRIPPERS

GRSPARALLEL GRIPPER Visit www.phdinc.com

for online sizing software!

SIZE27 x 4.527 x 728 x 628 x 1032 x 832 x 1350 x 1950 x 2863 x 3263 x 44

lb22152314291974497958

N96681026313083327218353257

MINIMUMlb31223522503211375159116

N1379615496224143503336708515

MAXIMUM

SF (SPRING ONLY)*SPRING CLOSE GRIP FORCE

lb17121610221435233626

N735171449863155104160117

MINIMUMlb33233723533411376160116

N146103164103234150504336710516

MAXIMUM

SF (SPRING ONLY)*SPRING OPEN GRIP FORCE

lb0.390.390.690.691.341.343.113.119.59.5

kg0.180.180.310.310.610.611.411.414.314.31

SPRING ASSISTGRIPPERWEIGHT

SPRING ASSISTCLOSE OR OPEN TIME87 psi [6 bar] IN sec

WITHSPRING

0.120.120.130.130.160.160.170.170.220.22

AGAINSTSPRING

0.240.240.260.260.460.460.320.320.420.42

SPRINGONLY0.160.160.200.200.270.270.290.290.510.51

SPRING ASSIST GRIP FORCE

SIZE in0.1770.2760.2500.3940.3150.5120.7501.1021.2601.732

mm4.57

6.351081319283244

MINIMUMTOTAL JAW

TRAVEL

TOTAL CLOSEGRIP FORCE AT87 psi [6 bar]

lb6848774810970235157398289

N302213341213485310104569717701287

GRIPPERWEIGHTlb

0.290.290.540.541.01.02.42.47.87.8

kg0.130.130.240.240.450.451.11.13.53.5

CLOSE OROPEN TIME

87 psi [6 bar]sec0.110.110.130.130.160.160.180.180.220.22

DISPLACEMENTin3

0.1330.1330.1820.1820.3350.3351.5701.5704.3974.397

cm3

2.22.23.03.05.55.526267272

EXTERNALGRIP

IMPERIAL0.780.550.880.551.250.802.71.84.63.3

METRIC503657368152

174116297213

INTERNALGRIP

IMPERIAL0.830.590.930.591.330.862.81.94.73.5

METRIC543860388656181123303226

GRIP FORCE FACTOR GF

27

28

32

50

63

SPECIFICATIONSOPERATING PRESSURE

STANDARD UNITSPRING ASSIST UNIT

OPERATING TEMPERATURERATED LIFEGRIP REPEATABILITYCYCLE TIMELUBRICATIONMAINTENANCE

SERIES GRS

30 psi min to 100 psi max [2 bar min to 7 bar max] air50 psi min to 100 psi max [3.5 bar min to 7 bar max] air

-20° to +180°F [-28° to +82°C]6 million cycles minimum (including spring assist units)

Within ±0.001 [±0.025 mm] of original positionSee table below

Factory lubricated for rated lifeField repairable

*Spring grip force (SF) varies withspring compression. The minimumspring grip force values occur withthe spring at least compression(jaws fully closed on spring closeunits and fully open on spring openunits). The maximum spring gripforce values occur with the springat most compression (jaws fullyopen on spring close units andfully closed on spring open units).

Mz

My

Mx Mx

My

Fa(compression)

Fa(tension)

MAX. ALLOWABLE FORCES & MOMENTS ON GRIPPER JAWS

Fa: Total for both jaws.Mx, My: Allowable moments. Moments measured from the body surface.Mz: Allowable moment. Moment measured from the jaw center.Note: When calculating values for Mx, My and Mz, include the grip forceper jaw, tooling weight, part weight, external forces, and acceleration, asapplicable. When calculating the value for Fa, include weight of tooling,part weight, acceleration, and external forces.

lb110220425760

1530

N490980

189033806800

Fa(tension)

lb22042076015003000

N98018703380667013340

Fa(compression)

in-lb50801503801140

Nm5.691743129

Per JawMx, My, and Mz

in-lb1001603007602280

Nm11183486

258

Both JawsSIZE2728325063

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122

SIZE06


GRIPPERS

TOOLING LENGTH in [mm]

SIZE 501.0

0.9

0.8

0.7

0.6

0.5

0.4

0.3

0.2

0.1

0.00 1 2 3 4 5 6

[25] [50] [75] [100] [125] [150]

At 6

0 ps

i [4

bar]

or l

ess

MAXIMUMTOOLINGLENGTHS

At 1

00 p

si [7

bar

]

At 8

7 ps

i [6

bar]

50 x 19 & 50 x 28

TOOL

ING

LENG

TH F

ACTO

R


SIZE 631.0

0.9

0.8

0.7

0.6

0.5

0.4

0.3

0.2

0.1

0.00 1 2 3 4 5 6 7 8 9

[25] [50] [75] [100] [125] [150] [175] [200] [225]

At 6

0 ps

i [4

bar]

or l

ess

At 1

00 p

si [7

bar

]

At 8

7 ps

i [6

bar]

MAXIMUMTOOLINGLENGTHS63 x 32 & 63 x 44

TOOL

ING

LENG

TH F

ACTO

R


SIZE 321.0

0.9

0.8

0.7

0.6

0.5

0.4

0.3

0.2

0.1

0.00 1 2 3 4

[25] [50] [75] [100]

At 6

0 ps

i [4

bar]

or l

ess

32 x 8

MAXIMUMTOOLINGLENGTHS32 x 13

At 1

00 p

si [7

bar

]

At 8

7 ps

i [6

bar]

TOOL

ING

LENG

TH F

ACTO

R


SIZE 281.0

0.9

0.8

0.7

0.6

0.5

0.4

0.3

0.2

0.1

0.00 1 2 3 4

[25] [50] [75] [100]

At 6

0 ps

i [4

bar]

or l

ess

At 8

7 ps

i [6

bar]

At 1

00 p

si [7

bar

]

28 x 6

28 x 10MAXIMUMTOOLINGLENGTHS

TOOL

ING

LENG

TH F

ACTO

R


TOOL

ING

LENG

TH F

ACTO

R

SIZE 271.0

0.9

0.8

0.7

0.6

0.5

0.4

0.3

0.2

0.1

0.00 1 2 3

[25] [50] [75]

At 6

0 ps

i [4

bar]

or l

ess

MAXIMUMTOOLINGLENGTHS

At 8

7 ps

i [6

bar]

At 1

00 p

si [7

bar

]

27 x 4.5

27 x 7

GRS GRIPPERTOOLING LENGTH FACTOR

Jaw tooling should be designed so that the grip point is asclose to the cover surface as possible. As the grip point is movedaway from the cover surface, the applied moment causes jawfriction to increase, resulting in reduced effective grip force. TheGrip Force Factor (GF) values given in the table on page 121 are forzero tooling length (cover surface).

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123

SIZE06


GRIPPERS

GRIP FORCETotal gripping force relative to tooling length is shown below at

the stated actuating pressure. Grip force per jaw equals the total gripforce divided by two. The graphs also indicate the maximum toolinglength for each gripper size.

NOTE: Grip force charts shown below have been simplified forclarity. To more precisely predict grip forces, refer to the grip forcecalculation equations on page 125.

PART

ToolingLength

F/2 F/2

F = Total Grip Force

COVER SURFACE

SPRING ONLY

SIZE 27 x 4.5 SIZE 27 x 7NOTE: Maximumtooling length varieslinearly with pressure.

SIZE 28 x 6 SIZE 28 x 10

100[445]

80[356]

60[267]

40[178]

20[89]

0

TOTA

L GR

IP F

ORCE

lb

[N]


0 1 2 3[25] [50] [75]

MAXIMUMTOOLINGLENGTHat 60 psi [4 bar]or less

MAXIMUMTOOLINGLENGTHat 87 psi [6 bar]

60 psi [4 bar] WITH SPRING


60 psi [4 bar]

87 psi [6 bar]

SPRING ONLY

80[356]

60[267]

40[178]

20[89]

0

TOTA

L GR

IP F

ORCE

lb

[N]


0 1 2 3[25] [50] [75]

NOTE: Maximumtooling length varieslinearly with pressure.

120[534]

100[445]

80[356]

60[267]

40[178]

20[89]

0

TOTA

L GR

IP F

ORCE

lb

[N]


0 1 2 3 4[25] [50] [75] [100]





87 psi [6 bar]60 psi [4 bar]

SPRING ONLY




0 1 2 3 4[25] [50] [75] [100]


80[356]

60[267]

40[178]

20[89]

0

TOTA

L GR

IP F

ORCE

lb

[N]



87 psi [6 bar]





60 psi [4 bar]

60 psi [4 bar] WITH SPRING87 psi [6 bar]

60 psi [4 bar]

SPRING ONLY

GRS GRIPPER

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124

SIZE06


GRIPPERS

SIZE 32 x 8NOTE: Maximumtooling length varieslinearly with pressure.



200[890]

160[712]

120[534]

80[356]

40[178]

0


0 1 2 3 4[25] [50] [75] [100]

TOTA

L GR

IP F

ORCE

lb

[N]


SPRING ONLY

60 psi [4 bar]

87 psi [6 bar]


SIZE 32 x 13


0 1 2 3 4[25] [50] [75] [100]

TOTA

L GR

IP F

ORCE

lb

[N]

100[445]

80[356]

60[267]

40[178]

20[89]

0


SPRING ONLY

60 psi [4 bar]

87 psi [6 bar]





SIZE 50 x 19

400[1779]

300[1334]

200[890]

100[445]

0

TOTA

L GR

IP F

ORCE

lb

[N]


0 1 2 3 4 5 6[25] [50] [75] [100] [125] [150]


SPRING ONLY

60 psi [4 bar]

87 psi [6 bar]


SIZE 50 x 28

300[1334]

200[890]

100[445]

0

TOTA

L GR

IP F

ORCE

lb

[N]


0 1 2 3 4 5 6[25] [50] [75] [100] [125] [150]


SPRING ONLY

60 psi [4 bar]

87 psi [6 bar]








600[2669]

500[2224]

400[1779]

300[1334]

200[890]

100[445]

0

TOTA

L GR

IP F

ORCE

lb

[N]


0 1 2 3 4 5 6 7 8 9[25] [50] [75] [100] [125] [150] [175] [200] [225]


SPRING ONLY

60 psi [4 bar]

87 psi [6 bar]60 psi [4 bar] WITH SPRING

SIZE 63 x 32

400[1779]

300[1334]

200[890]

100[445]

0

TOTA

L GR

IP F

ORCE

lb

[N]


0 1 2 3 4 5 6 7 8 9[25] [50] [75] [100] [125] [150] [175] [200] [225]


SPRING ONLY

60 psi [4 bar]

87 psi [6 bar]60 psi [4 bar] WITH SPRING

SIZE 63 x 44NOTE: Maximumtooling length varieslinearly with pressure.






GRS GRIPPER

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125

SIZE06


GRIPPERS

GRIP FORCE CALCULATION EXAMPLE:

Gripper: Series GRS Size 32 x 8Common Parameters:

Jaw Position at Part Contact: 2.8 in [71 mm] (40% of total jaw travel from full close)Operating Pressure = 87 psi [6 bar]Tooling Length = 3 in [75 mm]

1. Determine Grip Force Factor GF = 1.25 [81] (from table on page 121)

2. Determine Tooling Length Factor = 0.74 [0.74] (from Tooling Length Factor Graph on page 122 at 3 in [75 mm] tooling length)

3. Total Grip Force Calculations:For Standard Unit (without spring assist): GRS33-1-32 x 8 [GRS33-5-32 x 8]

Total Grip Force= 87 psi x 1.25 x .74 = 80 lb [6 bar x 81 x .74 = 360 N]

For Spring Assist Close Unit: GRS33-1-32 x 8 –FSR2 [GRS33-5-32 x 8 –FSR2]Spring grip force depends on jaw position. Jaw position at part contact is 40% from full close (the internal spring is 40% from itsminimum force). Spring grip force SF can be determined by interpolating between the minimum and maximum spring grip forcevalues in the Spring Grip Force Table on page 121.

Find Spring Grip Force SF

= Min. spring force + (40% x (Max. spring force – Min. spring force))= 29 lb + (.4 x (50 lb – 29 lb)) = 37 lb [130 N + (.4 x (224 N – 130 N)) = 168 N]

Grip close direction (springs working with applied pressure):Grip Close Grip Force Factor = 1.25 [81] (from table on page 121)Total Grip Force = ((87 psi x 1.25) + 37 lb) x .74 = 108 lb [((6 bar x 81 N) + 168 N) x .74 = 484 N]

Grip open direction (springs working against applied pressure):Grip Open Grip Force Factor = 1.33 [86] (from table on page 121)Total Grip Force = ((87 psi x 1.33) - 37 lb) x .74 = 58 lb [((6 bar x 86 N) - 168 N) x .74 = 258 N]

GRIP FORCE CALCULATION EQUATIONS:

IMPERIAL:

TOTAL GRIP FORCE [lb] = (Pressure [psi] x GF ) x Tooling Length Factor

TOTAL GRIP FORCE WITH SPRINGS [lb] = ((Pressure [psi] x GF ) ± SF [lb]) x Tooling Length Factor

METRIC:TOTAL GRIP FORCE [N] = (Pressure [bar] x GF) x Tooling Length Factor

TOTAL GRIP FORCE WITH SPRINGS [N] = ((Pressure [bar] x GF ) ± SF [N]) x Tooling Length Factor

PART

Tooling Length= 3 in [75 mm]

F/2 F/2

F = Total Grip Force2.8 in [71 mm]

COVER SURFACE

GRS GRIPPER

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126

SIZE06


GRIPPERS

GRDPARALLEL GRIPPER

BACKLASHJaw backlash in the (A) direction will not exceed .005 in

[0.127 mm] per jaw.Total clearance between the parallel jaws and the gripper body

or cover will not exceed the following figures:(B) .0025 in [0.064 mm](C) .003 in [0.076 mm] C

A

B

Visit www.phdinc.comfor online sizing software!

in.147.294.275.462.383.659

mm3.757.57.0

11.759.75

16.75

MIN.TOTAL JAW

TRAVEL

TOTAL GRIPFORCE AT

87 psi [6 bar]GRIPPERWEIGHT

CLOSE OROPEN TIME

87 psi [6 bar]sec.02.02.04.04.06.06

MINIMUMOPERATINGPRESSUREMODEL

NO.GRDx31GRDx41GRDx51GRDx52GRDx61GRDx62

DISPLACE-MENT


MAXIMUMDIRECTION

MINIMUMDIRECTION

psi303030303030

bar222222

IMPERIAL.33.42.90.551.42.95

METRIC21.327.158.135.591.661.3

IMPERIAL.38.461.00.621.561.05

METRIC24.529.764.540.0100.667.7

in3

.07

.12

.25

.25

.54

.54

cm3

124499

lb33408754

13691

N147178387240604406


STANDARD UNITMEDIUM SPRING ASSIST UNITHEAVY SPRING ASSIST UNIT


SERIES GRD

30 psi min to 100 psi max [2 bar min to 7 bar max] air60 psi min to 100 psi max [4 bar min to 7 bar max] air72 psi min to 100 psi max [5 bar min to 7 bar max] air

-20° to +180°F [-28° to +82°C]10 million cycles minimum with standard seals (including spring assist units)

Within ±0.002 [±0.05 mm] of original positionSee tables below


lb0.250.380.660.721.411.56

kg0.110.170.300.330.640.71

lb152042266644

N6787

187117294196

SF

SPRINGGRIP FORCE

CLOSE OR OPEN TIME87 psi [6 bar] in sec

MODELNO.

GRDx31GRDx41GRDx51GRDx52GRDx61GRDx62

AGAINSTSPRING

.03

.03

.06

.06

.10

.10

WITHSPRING

.02

.02

.03

.03

.05

.05

SPRINGONLY.03.03.05.05.08.08

HEAVY SPRING

lb121635225537

N557115596242163

SF

SPRINGGRIP FORCE

CLOSE OR OPEN TIME87 psi [6 bar] in sec

AGAINSTSPRING

.03

.03

.05

.05

.08

.08

WITHSPRING

.02

.02

.04

.04

.06

.06

SPRINGONLY.04.04.07.07.10.10

MEDIUM SPRING

lb0.340.540.971.032.032.19

kg0.160.250.440.470.920.99

GRIPPERWEIGHT

lb0.330.530.941.001.982.14

kg0.150.240.430.450.900.97

GRIPPERWEIGHT

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127

SIZE06


GRIPPERS

lb109107213320

N485476947

1423

Fain-lb6486230437

Nm7102649

Mxin-lb6868

168281

Nm88

1932

Myin-lb5252

138336

Nm66

1638

MzMODEL NO.

GRDx31GRDx41GRDx5xGRDx6x

Fa: Total for both jawsMx: Per jaw, with moments from cover surfaceMy: Per jaw, with moments from center of gripperMz: Per jaw, with moments from cover surface,

tooling keyed to jaw


MzFa

COVERSURFACE Mx My

GRD GRIPPER

TOOLINGLENGTH

PART

TOOL

ING

LENG

TH F

ACTO

R

4[102]

3[76]

2[51]

1[25]

0

1.0

0.9

0.8

0.7

0.6

0.5

0.4

0.3

0.2

0.1

05

[127]

TOOLING LENGTH FACTOR

TOOLING LENGTH inch [mm]

GRDx31GRDx41

GRDx5x GRDx6x

COVER SURFACE

F/2

F= TOTAL GRIP FORCE

F/2

TOOLING LENGTH FACTORTooling should be designed so that the grip point is as close to the

cover surface as possible. As the grip point is moved away from the bodysurface, the applied moment causes jaw friction to increase, resulting inreduced effective grip force. The Grip Force Factor (GF) values givenabove are for zero tooling length (body surface).

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128

SIZE06


GRIPPERS

GRIP FORCE: SERIES GRDx3/GRDx4

TOOLINGLENGTH

PART

GRDx31-1-x5xxMAXIMUM FORCE CLOSE

TOT

AL G

RIP

FORC

E lb

[N]

50[222]


0 1[25]

2[51]

3[76]

40[178]

30[134]

20[89]

10[45]

0

OPENCLOSE

AIR WITH HEAVY SPRINGAIR WITH MEDIUM SPRING

AIR ONLY

HEAVY SPRING ONLY

MEDIUM SPRING ONLY

GRDx31-1-x0xxMAXIMUM FORCE OPEN

TOT

AL G

RIP

FORC

E lb

[N]

50[222]


0 1[25]

2[51]

3[76]

40[178]

30[134]

20[89]

10[45]

0

CLOSEOPEN


AIR ONLY

HEAVY SPRING ONLY

MEDIUM SPRING ONLY


AIR ONLY

HEAVY SPRING ONLY

MEDIUM SPRING ONLY

TOT

AL G

RIP

FORC

E lb

[N]

60[267]


0 1[25]

2[51]

3[76]

50[222]

40[178]

30[134]

20[89]

10[45]

0


OPENCLOSE


AIR ONLY

HEAVY SPRING ONLY

MEDIUM SPRING ONLY


TOT

AL G

RIP

FORC

E lb

[N]

60[267]


0 1[25]

2[51]

3[76]

50[222]

40[178]

30[134]

20[89]

10[45]

0

CLOSEOPEN

Gripping forces are the arithmetic sum of the forces applied byboth jaws. Gripping forces shown are for maximum force directionat 87 psi [6 bar] actuating pressure, related to tooling length.

Spring only forces are shown with no actuating pressure.

GRD GRIPPER

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129

SIZE06


GRIPPERS

GRIP FORCE: SERIES GRDx5


AIR ONLY

HEAVY SPRING ONLY

MEDIUM SPRING ONLY

TOT

AL G

RIP

FORC

E lb

[N]

140[623]


0 1[25]

2[51]

4[102]

100[445]

60[267]

40[178]

20[89]

0

80[356]

120[534]

3[76]


CLOSEOPEN


AIR ONLY

HEAVY SPRING ONLY

MEDIUM SPRING ONLY

TOT

AL G

RIP

FORC

E lb

[N]

140[623]


0 1[25]

2[51]

4[102]

100[445]

60[267]

40[178]

20[89]

0


OPENCLOSE

80[356]

120[534]

3[76]

50[222]

30[134]

10[45]


AIR ONLY

HEAVY SPRING ONLY

MEDIUM SPRING ONLY

TOT

AL G

RIP

FORC

E lb

[N]

90[400]


0 1[25]

2[51]

4[102]

60[267]

40[178]

20[89]

0

70[311]

80[356]

3[76]

GRDx52-1-x0xx (LONG TRAVEL)MAXIMUM FORCE OPEN

CLOSEOPEN

50[222]

30[134]

10[45]


AIR ONLY

HEAVY SPRING ONLY

MEDIUM SPRING ONLY

TOT

AL G

RIP

FORC

E lb

[N]

90[400]


0 1[25]

2[51]

4[102]

60[267]

40[178]

20[89]

0

GRDx52-1-x5xx (LONG TRAVEL)MAXIMUM FORCE CLOSE

OPENCLOSE

70[311]

80[356]

3[76]

TOOLINGLENGTH

PART



GRD GRIPPER

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130

SIZE06


GRIPPERS

200[890]

100[445]

50[222]


AIR ONLY

HEAVY SPRING ONLY

MEDIUM SPRING ONLY

TOT

AL G

RIP

FORC

E lb

[N]

250[1112]


0 1[25]

2[51]

5[127]

150[667]

03

[76]4

[102]


CLOSEOPEN

200[890]

100[445]

50[222]


AIR ONLY

HEAVY SPRING ONLY

MEDIUM SPRING ONLY

TOT

AL G

RIP

FORC

E lb

[N]

250[1112]


0 1[25]

2[51]

5[127]

150[667]

0


OPENCLOSE

3[76]

4[102]

5[127]

120[534]

60[267]

20[89]

40[178]


AIR ONLY

HEAVY SPRING ONLY

MEDIUM SPRING ONLY

TOT

AL G

RIP

FORC

E lb

[N]

140[623]


0 1[25]

2[51]

5[127]

100[445]

03

[76]4

[102]

80[356]

GRDx62-1-x0xx (LONG TRAVEL)MAXIMUM FORCE OPEN

CLOSEOPEN

120[534]

60[267]

20[89]

40[178]


AIR ONLY

HEAVY SPRING ONLY

MEDIUM SPRING ONLY

TOT

AL G

RIP

FORC

E lb

[N]

140[623]


0 1[25]

2[51]

5[127]

100[445]

0

GRDx62-1-x5xx (LONG TRAVEL)MAXIMUM FORCE CLOSE

OPENCLOSE

3[76]

4[102]

80[356]

TOOLINGLENGTH

PART



GRIP FORCE: SERIES GRDx6

GRD GRIPPER

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131

SIZE06


GRIPPERS

GRD GRIPPERGRIP FORCE CALCULATION EQUATIONS:

IMPERIAL:

TOTAL GRIP FORCE [lb] = (Pressure [psi] x GF ) x Tooling Length FactorTOTAL GRIP FORCE WITH SPRINGS [lb] = ((Pressure [psi] x GF ) ± SF [lb]) x Tooling Length Factor


TOTAL GRIP FORCE WITH SPRINGS [N] = ((Pressure [bar] x GF ) ± SF [N]) x Tooling Length Factor

Tooling Length =2.0 in [50 mm]

F/2


PARTF/2

COVERSURFACE

GRIPPER CALCULATION EXAMPLE

GRD151-1-0501 [GRD551-1-0501]Operating Pressure = 87 psi [6 bar]Tooling Length: 2 in [50 mm]External GripDetermine Grip Force Factor GF = 1.00 [64.5] (from table on page 126)Determine Tooling Length Factor for 2 in [50 mm] = .74 (from Tooling Length Factor Graph on page 127)Total Grip Force = (87 psi x 1.00) x .74 = 64 lb [(6 bar x 64.5) x .74 = 286 N]

GRD151-1-0531 [GRD551-1-0531] (Spring Assist Close, Medium Springs)Operating Pressure = 87 psi [6 bar]Tooling Length: 2 in [50 mm]External GripDetermine Grip Force Factor GF = 1.00 [64.5] (from table on page 126)Determine Tooling Length Factor for 2 in [50 mm] = .74 (from Tooling Length Factor Graph on page 127)Determine SF for medium spring = 35 lb [155 N] (from table on page 126)Total Grip Force = ( (87 psi x 1.00) + 35 lb ) x .74 = 90 lb [ ( (6 bar x 64.5) + 155 N ) x .74 = 401 N]

TOTAL FORCE lb [N] = [Pressure psi [bar] x GF ) x Tooling Length FactorTOTAL FORCE WITH SPRINGS lb [N] = [ (Pressure psi [bar] x GF ) ± SF ] x Tooling Length Factor

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132

SIZE06


GRIPPERS

GRWPARALLEL GRIPPER

BodySurface

Mz

SIDE VIEWMAX. ALLOWABLE FORCES AND MOMENTS ON GRIPPER JAWS

Mx, My, Mz: Moment allowables, with moments measured from the body surface.When calculating values for Mx, My, and Mz, include the grip force per jaw, tooling weight,part weight, external forces, and acceleration as applicable. When calculating the value forFa, include weight of tooling, part weight, acceleration, and external forces.

Mx

BodySurface

FRONT VIEW

Mx

FA

My

BodySurface

TOP VIEW

My

lb60

150550

14002600

N270670

24456225

11565

FaBoth Jaws

in-lb10028579011002640

Nm113289124298

Mx

SIZE1625324050

Per Jaw Both Jawsin-lb200570158022005280

Nm2264178248596

in-lb10028579011002640

Nm113289124298

MyPer Jaw Both Jaws

in-lb200570

158022005280

Nm2264

178248596

in-lb45

100300390900

Nm5

113444

101

MzPer Jaw Both Jaws

in-lb90

200600780

1800

Nm10226888

202

TOOLING LENGTH FACTORJaw tooling should be designed so that the grip point is as

close to the body surface as possible. As the grip point is movedaway from the body surface, the applied moment causes jawfriction to increase, resulting in reduced effectivegrip force. The Grip Force Factor (GF)values given in the table above are forzero tooling length (body surface).The graphs show how grip forcedecreases as the grip point is movedfrom the body surface. TOOLING LENGTH in [mm]

TOOL

ING

LENG

TH F

ACTO

R

SIZE 16, 25 & 321.0

0.9

0.8

0.7

0.6

0.5

0.4

0.3

0.2

0.1

0.00 2 4 6 8 10 12 14 16

[50] [100] [150] [200] [250] [300] [350] [400]

SIZE

16

SIZE

32

SIZE

25

MAXTOOLINGLENGTH

MAXTOOLINGLENGTH

MAXTOOLINGLENGTH


TOOL

ING

LENG

TH F

ACTO

R

SIZE 401.0

0.9

0.8

0.7

0.6

0.5

0.4

0.3

0.2

0.1

0.00 2 4 6 8 10 12 14 16 18

[50] [100] [150] [200] [250] [300] [350] [400] [450]

at 1

00 p

si [7

bar

]

at 8

0 ps

i [5.

5 ba

r]

at 6

0 ps

i [4

bar]

at 4

0 ps

i [3

bar]

MAXTOOLINGLENGTHS


TOOL

ING

LENG

TH F

ACTO

R

SIZE 501.0

0.9

0.8

0.7

0.6

0.5

0.4

0.3

0.2

0.1

0.00 2 4 6 8 10 12 14 16 18 20 22 24

[50] [100] [150] [200] [250] [300] [350] [400] [450] [500] [550] [600]

MAXTOOLINGLENGTHS

at 1

00 p

si [7

bar

]

at 4

0 ps

i [3

bar]

at 8

0 ps

i [5.

5 ba

r]

at 6

0 ps

i [4

bar]

F/2

F= TOTAL GRIP FORCE

F/2

ToolingLength

PART

BodySurface

SIZE1625324050

in0.792.092.563.584.61

mm20536591

117

NOMINALTOTAL JAW

TRAVEL


lb3690

170207429

N160400756921

1908

GRIPPERWEIGHTlb

0.692.55.3

11.222.1

kg0.31.12.45.1

10.0

CLOSE OROPEN TIME

87 psi [6 bar]sec0.090.140.240.300.60

DISPLACEMENTin3

0.251.593.197.014.0

cm3

4.02652114229

EXTERNALGRIPIMPERIAL

0.411.031.962.384.93

METRIC2666126154318

INTERNALGRIP

IMPERIAL0.491.212.172.615.49

METRIC3178140168354



STANDARD UNITOPERATING TEMPERATURERATED LIFEGRIP REPEATABILITYCYCLE TIMELUBRICATIONMAINTENANCE

SERIES GRW

30 psi min to 100 psi max [2 bar min to 7 bar max] air-20° to +180°F [-28° to +82°C]

6 million cycles minimumWithin ±0.002 [±0.05 mm] of original centered position

See table belowFactory lubricated for rated life

Field repairable

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133

SIZE06


GRIPPERS

GRW GRIPPERGRIP FORCE

Total gripping force relative to tooling length isshown below at the stated actuating pressure. Grip forceper jaw equals the total grip force divided by two. Thechart also indicates the maximum tooling length for eachgripper size.

GRIP FORCE CALCULATION EQUATIONS:IMPERIAL:

TOTAL GRIP FORCE [lb] = (Pressure [psi] x GF ) x Tooling Length FactorMETRIC:

TOTAL GRIP FORCE [N] = (Pressure [bar] x GF) x Tooling Length Factor

Tooling Length =6 in [150 mm]

F/2 F/2


PART

BODYSURFACEGRIPPER CALCULATION EXAMPLE

TOTAL GRIP FORCE lb [N] = Pressure psi [bar] x GF x Tooling Length Factor

GRW13-1-25-53 [GRW13-5-25-53]Operating Pressure = 87 psi [6 bar]External GripFind Grip Force Factor GF = 1.03 [66.4] (from table on page 132)Find Tooling Length Factor = 0.64 [0.64] (See Tooling Length Factor Graph)(Tooling Length of 6 in [150 mm] ➜ 0.64 [0.64])Total Grip Force = 87 psi x 1.03 x .64 = 57 lb [6 bar x 66.4 x .64 = 255 N]

TOTA

L GR

IP F

ORCE

lb

[N]

SIZE 16, 25, 3287 psi [6 bar]

200[890]

180[801]

160[712]

140[623]

120[534]

100[445]

80[356]

60[267]

40[178]

20[89]

0


0 2 4 6 8 10 12 14 16[50] [100] [150] [200] [250] [300] [350] [400]

TOTA

L GR

IP F

ORCE

lb

[N]

SIZE 50500

[2224]

400

[1779]

300

[1334]

200

[890]

100

[445]

0


0 2 4 6 8 10 12 14 16 18 20 22 24[50] [100] [150] [200] [250] [300] [350] [400] [450] [500] [550] [600]

SIZE 50 OPEN, 87 psi [6 bar]

MAXTOOLINGLENGTHat 40 psi [3 bar]


SIZE 50 CLOSED, 87 psi [6 bar]




SIZE 40250

[1112]

200[890]

150[667]

100[445]

50[222]

0


0 2 4 6 8 10 12 14 16 18[50] [100] [150] [200] [250] [300] [350] [400] [450]

TOTA

L GR

IP F

ORCE

lb

[N]








SIZE 16 CLOSE

SIZE 16 OPEN

SIZE 25 CLOSE

SIZE 25 OPEN

SIZE 32 OPEN

SIZE 32 CLOSE

MAXTOOLINGLENGTH

MAXTOOLINGLENGTH

MAXTOOLINGLENGTH

ToolingLength

F/2


PART F/2

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134

SIZE06


GRIPPERS

GRCPARALLEL GRIPPER


[0.06 mm] per jaw. Total clearance between the parallel jaws andthe body or cover will not exceed thefollowing figures:

(B) .0025 inch [0.06 mm](C) .004 inch [0.1 mm]

C

BAVisit www.phdinc.comfor online sizing software!

GRCx31 & 33GRCx32 & 34GRCx41 & 43GRCx42 & 44GRCx51 & 53GRCx52 & 54GRCx61 & 63GRCx62 & 64

GRIPPERNO. lb

0.670.671.691.693.483.489.59.5

WEIGHTADDER

kg0.30.30.80.81.61.64.34.3

lb5144

11093

204170465320

SPRING GRIPFORCE SF

N227196489414907756

20681423

AGAINSTSPRING

.10

.10

.16

.16

.35

.35

.50

.50

CLOSE OR OPEN TIME87 psi [6 bar] in seconds

WITHSPRING

.05

.05

.06

.06

.15

.15

.20

.20

SPRINGONLY.08.08.10.10.30.30.35.35

lb35307866140117312215

SPRING GRIPFORCE SF

N1561333472946235201388956

lb0.600.601.431.432.882.887.817.81

WEIGHTADDER

kg0.270.270.650.651.311.313.543.54

AGAINSTSPRING

.08

.08

.12

.12

.30

.30

.40

.40

CLOSE OR OPEN TIME87 psi [6 bar] in seconds

WITHSPRING

.05

.05

.07

.07

.20

.20

.25

.25

SPRINGONLY.10.10.14.14.35.35.50.50

HEAVY SPRING MEDIUM SPRING


STANDARD UNITMEDIUM SPRING ASSIST UNITHEAVY SPRING ASSIST UNITMEDIUM SPRING ASSIST UNIT WITH SHURGRIPHEAVY SPRING ASSIST UNIT WITH SHURGRIP


SERIES GRC

40 psi min to 100 psi max [2.8 bar min to 7 bar max] air60 psi min to 100 psi max [4 bar min to 7 bar max] air72 psi min to 100 psi max [5 bar min to 7 bar max] air

65 psi min to 100 psi max [4.5 bar min to 7 bar max] air80 psi min to 100 psi max [5.5 bar min to 7 bar max] air


Within ±0.002 [±0.05 mm] of original centered positionSee table below


GRCx31 & 33GRCx32 & 34GRCx41 & 43GRCx42 & 44GRCx51 & 53GRCx52 & 54GRCx61 & 63GRCx62 & 64

GRIPPERNO. lb

9683

209178383318870609

TOTAL GRIPFORCE AT

87 psi [6 bar]N

427369930792

1704141438702709

lb1.682.323.985.347.35

10.5220.4728.2

GRIPPERWEIGHT

(FLAT JAWS)kg

0.761.051.812.423.334.779.28

12.79

lb1.812.454.215.577.8911.121.729.4

GRIPPERWEIGHT

(RAISED JAWS)kg

0.821.111.912.533.585.029.8513.4

sec.06.06.08.08.25.25.30.30

CLOSE OROPEN TIME

87 psi [6 bar]DISPLACE-

MENTcm3

13.513.545.545.5108.0108.0364.0364.0

in3

0.820.822.772.776.586.5822.222.2

GRIP FORCEFACTOR GF

METRIC71.161.4155.2132.6284.5236.0646.7452.7

IMPERIAL1.100.952.42.054.43.65107

in.940.940

1.4751.4751.9451.9453.0103.010

MIN.TOTAL JAW

TRAVELmm2424

37.537.549.549.576.576.5

psi3036303630363036

MINIMUMOPERATINGPRESSURE

bar2

2.52

2.52

2.52

2.5

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135

SIZE06


GRIPPERS

TOOLING LENGTH inches [mm]

TOOL

ING

LENG

TH F

ACTO

R

8[203]

7[178]

6[152]

5[127]

4[102]

3[76]

2[51]

1[25]

0

1.0

0.9

0.8

0.7

0.6

0.5

0.4

0.3

0.2

0.1

09

[229]10

[254]


PART

Tooling Length

COVERSURFACE

GRCx6xGRCx5x

GRCx3xGRCx4x

F/2F/2

F=TOTAL GRIP FORCE

GRIPPER MODELGRCx31 & 33GRCx32 & 34GRCx41 & 43GRCx42 & 44GRCx51 & 53GRCx52 & 54GRCx61 & 63GRCx62 & 64

4.685[119.0]6.200

[157.5]7.520

[191.0]10.315[262.0]

4.785[121.5]6.354

[161.4]7.720

[196.1]10.622[269.8]

4.885[124.1]6.507

[165.3]7.920

[201.2]10.929[277.6]

4.985[126.6]6.660

[169.2]8.120

[206.3]11.236[285.4]

5.085[129.2]6.814

[173.1]8.320

[211.4]11.543[293.2]

5.185[131.7]6.967

[177.0]8.520

[216.5]11.850[301.0]

5.285[134.3]7.120

[180.9]8.720

[221.6]12.157[308.8]

5.385[136.8]7.274

[184.8]8.920

[226.7]12.464[316.6]

5.485[139.4]7.427

[188.7]9.120

[231.8]12.771[324.4]

5.585[141.9]7.581

[192.6]9.320

[236.9]13.078[332.2]

5.685[144.5]7.735

[196.4]9.525

[242.0]13.385[340.0]

1.8

1.6

1.4

1.2

1.0

DIMENSION “A” inches [mm]

JAW POSITION FACTOR BASED ONDIMENSION “A” ACROSS GRIPPER JAWS

JAW

POS

ITIO

N FA

CTOR

A

JAW POSITION FACTOR GRAPHThe Series GRC Gripper mechanism increases grip force as the

jaws move away from midposition toward open or closed position.Tooling can be designed to take advantage of the higher forcesavailable when the jaws are close to the end positions.The chart shows how force increases as the jaws move toward theend positions. The grip forces should be multiplied by the jawposition factor for an accurate grip force calculation.

GRC GRIPPER

MODELNO.

GRCx3xGRCx4xGRCx5xGRCx6x

lb200133017802220

N890591679179875

Fain-lb1303507502100

Nm154085237

OPEN Mxin-lb1754509502700

Nm2051107305

CLOSE Mxin-lb26053011002250

Nm2960124254

Myin-lb170300520600

Nm19345968

Mz

Fa: Total for both jawsMx: Per jaw, with moments from cover surfaceMy: Per jaw, with moments from center of gripperMz: Per jaw, with moments from cover surface

Mz MxFa

My

COVERSURFACE


TOOLING LENGTH FACTORDesign tooling so that the grip point is as close to the cover

surface as possible. When the grip point moves away, jaw frictionincreases, which decreases grip force. The GF information given onpage 134 is for zero tooling length (cover surface). The graph showshow force decreases as the grip point moves away from the coversurface.

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136

SIZE06


GRIPPERS

160[712]

140[623]

120[534]

100[445]

80[356]

60[267]

40[178]

20[89]

00 1

[25]2

[51]3

[76]4

[102]

TOT

AL G

RIP

FORC

E lb

[N]


GRCx31-2-xxxx & GRCx33-2-xxxxSTANDARD CLOSE


AIR ONLY

HEAVY SPRING ONLYMEDIUM SPRING ONLY

160[712]

140[623]

120[534]

100[445]

80[356]

60[267]

40[178]

20[89]

00 1

[25]2

[51]3

[76]

TOT

AL G

RIP

FORC

E lb

[N]


GRCx31-2-xxxx & GRCx33-2-xxxxSTANDARD OPEN


AIR ONLY


140[623]

120[534]

100[445]

80[356]

60[267]

40[178]

20[89]

00 1

[25]2

[51]3

[76]4

[102]

TOT

AL G

RIP

FORC

E lb

[N]


GRCx32-2-xxxx & GRCx34-2-xxxxSHURGRIP CLOSE


AIR ONLY


140[623]

120[534]

100[445]

80[356]

60[267]

40[178]

20[89]

00 1

[25]2

[51]3

[76]

TOT

AL G

RIP

FORC

E lb

[N]


GRCx32-2-xxxx & GRCx34-2-xxxxSHURGRIP OPEN


AIR ONLY


PART

TOOLINGLENGTH

Gripping forces are the arithmetic sum of the forces applied byboth jaws.

Gripping force shown is in relation to tooling length at 87 psi[6 bar] actuating pressure. Forces should be multiplied by the jawposition factor shown on page 135 for an accurate grip forcecalculation.

GRIP FORCE: SERIES GRCx3

GRC GRIPPER

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137

SIZE06


GRIPPERS

0 1[25]

2[51]

3[76]

5[127]

TOT

AL G

RIP

FORC

E lb

[N]



350[1557]

300[1334]

250[1112]

200[890]

150[667]

100[445]

50[222]

04

[102]


AIR ONLY


350[1557]

300[1334]

250[1112]

200[890]

150[667]

100[445]

50[222]

00 1

[25]2

[51]3

[76]4

[102]

TOT

AL G

RIP

FORC

E lb

[N]




AIR ONLY


0 1[25]

2[51]

3[76]

5[127]

TOT

AL G

RIP

FORC

E lb

[N]



4[102]

300[1334]

250[1112]

200[890]

150[667]

100[445]

50[222]

0

AIR WITH HEAVY SPRING

AIR ONLY


AIR WITH MEDIUM SPRING

300[1334]

250[1112]

200[890]

150[667]

100[445]

50[222]

00 1

[25]2

[51]3

[76]4

[102]

TOT

AL G

RIP

FORC

E lb

[N]



AIR WITH HEAVY SPRING

HEAVY SPRING ONLY

AIR WITH MEDIUM SPRING

AIR ONLY

MEDIUM SPRING ONLY

PART

TOOLINGLENGTH




GRC GRIPPER

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138

SIZE06


GRIPPERS



0 1[25]

2[51]

3[76]

6[152]

TOT

AL G

RIP

FORC

E lb

[N]



600[2668]

500[2224]

400[1779]

300[1334]

200[890]

100[445]

04

[102]5

[127]


AIR ONLY


0 1[25]

2[51]

3[76]

5[127]

TOT

AL G

RIP

FORC

E lb

[N]



4[102]

600[2668]

500[2224]

400[1779]

300[1334]

200[890]

100[445]

0

AIR ONLY



0 1[25]

2[51]

3[76]

6[152]

TOT

AL G

RIP

FORC

E lb

[N]



4[102]

5[127]

500[2224]

400[1779]

300[1334]

200[890]

100[445]

0


AIR ONLY


0 1[25]

2[51]

3[76]

5[127]

TOT

AL G

RIP

FORC

E lb

[N]



500[2224]

400[1779]

300[1334]

200[890]

100[445]

04

[102]

AIR ONLY



PART

TOOLINGLENGTH


GRC GRIPPER

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139

SIZE06


GRIPPERS

0 2[51]

10[254]

TOT

AL G

RIP

FORC

E lb

[N]



4[102]

1400[6227]

1200[5338]

1000[4448]

800[3558]

600[2668]

400[1779]

200[890]

01

[25]3

[76]5

[127]6

[152]8

[203]7

[178]9

[229]


AIR ONLY


0 1[25]

2[51]

3[76]

6[152]

TOT

AL G

RIP

FORC

E lb

[N]



1400[6227]

1200[5338]

1000[4448]

800[3558]

600[2668]

400[1779]

200[890]

04

[102]5

[127]


AIR ONLY


0 1[25]

2[51]

3[76]

6[152]

TOT

AL G

RIP

FORC

E lb

[N]



4[102]

5[127]

1000[4448]

800[3558]

600[2668]

400[1779]

200[890]

0


AIR ONLY


0

TOT

AL G

RIP

FORC

E lb

[N]



1000[4448]

800[3558]

600[2668]

400[1779]

200[890]

02

[51]10

[254]4

[102]1

[25]3

[76]5

[127]6

[152]8

[203]7

[178]9

[229]


AIR ONLY


PART

TOOLINGLENGTH




GRC GRIPPER

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140

SIZE06


GRIPPERS

GRC GRIPPER

GRC141-2-0001 [GRC541-1-0001]Operating Pressure: 87 psi [6 bar]Tooling Length: 3 in [75 mm]External GripDetermine Grip Force Factor GF = 2.4 [155.2] (from table on page 134)Determine Tooling Length Factor for 3 in [75 mm] = .68 (from Tooling Length Factor Graph on page 135)Determine Jaw Position Factor for 6.35 in [161 mm] = 1.3 [1.3] (from Jaw Position Factor Graph on page 135)Total Grip Force = (87 psi x 2.4) x 1.3 x .68 = 184 lb [(6 bar x 155.2) x 1.3 x .68 = 823 N]

GRC141-2-0031 [GRC541-1-0031] Spring Assist Close, Medium SpringsOperating Pressure: 87 psi [6 bar]Tooling Length: 3 in [75 mm]External GripDetermine Spring Force SF = 78 lb [347 N] (from table on page 134)Determine Grip Force Factor GF = 2.4 [155.2] (from table on page 134)Determine Tooling Length Factor for 3 in [75 mm] = .68 (from Tooling Length Factor Graph on page 135)Determine Jaw Position Factor for 6.35 in [161 mm] = 1.3 [1.3] (from Jaw Position Factor Graph on page 135)Total Grip Force = ( (87 psi x 2.4) + 78 lb) x 1.3 x .68 = 253 lb[ ( (6 bar x 155.2) + 347 N) x 1.3 x .68 = 1130 N]


IMPERIAL:

TOTAL GRIP FORCE [lb] = (Pressure [psi] x GF ) x Jaw Position Factor x Tooling Length FactorTOTAL GRIP FORCE WITH SPRINGS [lb] = ((Pressure [psi] x GF ) ± SF [lb]) x Jaw Position Factor x Tooling Length Factor

METRIC:TOTAL GRIP FORCE [N] = (Pressure [bar] x GF) x Jaw Position Factor x Tooling Length FactorTOTAL GRIP FORCE WITH SPRINGS [N] = ((Pressure [bar] x GF ) ± SF [N]) x Jaw Position Factor x Tooling Length Factor

GRIP FORCE CALCULATION EXAMPLES: Tooling Length =3 in [75 mm]

6.35

COVERSURFACE

F/2F/2 PART

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141

SIZE06


GRIPPERS

PARALLEL GRIPPER


[0.24 mm] per jaw. Total clearance between theparallel jaws and the body will not exceedthe following figures:

(B) .003 in [0.075 mm](C) .0027 in [0.068 mm]

B

C

A



STANDARD UNITSPRING ASSIST UNIT

OPERATING TEMPERATURERATED LIFE

GRIP REPEATABILITYCYCLE TIMELUBRICATIONMAINTENANCE

SERIES GRT

30 psi min to 100 psi max [2 bar min to 7 bar max] air60 psi min to 100 psi max [4 bar min to 7 bar max] air


7.5 million cycles minimum for part ejector springsWithin ±0.002 [±0.05 mm] of original centered position


Field repairable

MODELNO.

GRTx1xGRTx2xGRTx3xGRTx4xGRTx5xGRTx6xGRTx7xGRTx8x

sec..09.03.04.06.07.15.30.40

in3

0.100.300.721.413.005.6310.7521.92

cm3

1.6512234992176359

IMPERIAL0.521.291.932.514.356.5410.1116.69

METRIC33831251622814226521077

lb0.270.590.951.752.825.1

8.7515.5

kg0.120.270.430.801.282.323.987.05

lb44

112168218378569880

1452

N196499747971

1683253139126459

in0.2360.3150.4720.6300.7871.0241.2601.575

mm68

121620263240

TOTALDIAMETRALJAW TRAVEL


GRIPPERWEIGHT

CLOSE OROPEN TIME

87 psi [6 bar] DISPLACEMENTEXTERNAL

GRIPIMPERIAL

0.571.432.102.684.616.9910.6717.52

METRIC3793

136173297451688

1131

INTERNALGRIP


Minimum Operating Pressure is 30 psi [2 bar] for standard unit and 60 psi [4 bar] for spring assist unit.

MODELNO.


lb9

142849

118193263324

N4062

125218525858

11701441

SF

SPRING GRIP FORCE

HEAVY SPRING

lb0.340.741.182.153.926.9911.120.6

kg0.150.340.540.981.783.175.049.34

SPRINGASSIST GRIPPER

WEIGHT

CLOSE OR OPEN TIME87 psi [6 bar] IN sec

WITHSPRING

.08

.02

.04

.05

.08

.11

.15

.27

AGAINSTSPRING

.14

.05

.10

.12

.16

.21

.36

.48

SPRINGONLY

.14

.04

.10

.10

.12

.15

.24

.40

lb185282

110232341498591

N80

231365498

1032151722152629

MINIMUM MAXIMUM MODELNO.


lb0.170.300.721.252.654.508.8016.00

kg0.080.140.330.571.202.054.007.27

in1.51.972.562.953.944.925.917.87

mm40506575100125150200

TOOLINGLENGTH

MAXIMUM

TOOLINGWEIGHT

MAX. PER JAW

Spring grip force (SF) varies with spring compression. The minimum spring grip force values occur with the spring at least compression(jaws fully closed on spring close units and fully open on spring open units). The maximum spring grip force values occur with thespring at most compression (jaws fully open on spring close units and fully closed on spring open units).

GRT

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SIZE06


GRIPPERS

Mz

My

FaMx

lb49141337419528562652731

N218625

150018652350250029003250

Fain-lb405276

127275587

11902486

Nm4.569

143166

134281

OPEN Mx*in-lb41

133221309398707884

1591

Nm4.61525354580100180

Myin-lb4413313322148657511052077

Nm51515255565125235

MzMODEL NO.


Fa: Total for all jawsMx: Per jaw, with moments from body surfaceMy: Per jaw, with moments from center of jawMz: Per jaw, with moments from body surface, tooling keyed to jawWhen calculating values for Mx, My, and Mz, include the grip force, partweight, acceleration, and external forces. When calculating the valuefor Fa, include weight of tooling, part weight, acceleration, and externalforces.

*Maximum Open Mx values based on 10 million cycle life and assumepart is gripped with jaws in full open position. Gripping part with jawsat less than full open position will increase allowable Open Mx.


BODYSURFACE

in-lb116221265398796

128223875083

Nm1325304590

145270574

CLOSE Mx

GRT GRIPPER

TOOLING LENGTH FACTORTooling should be designed so that the grip point is as close to

the body surface as possible. When the grip point moves away, jawfriction increases, which decreases grip force. The GF informationgiven above is for zero tooling length (body surface). The graphshows how force decreases as the grip point moves away from thebody surface.

PART

Tooling Length

TOOL

ING

LENG

TH F

ACTO

R

4[102]

3[76]

2[51]

1[25]

0

1.0

0.9

0.8

0.7

0.6

0.5

0.4

0.3

0.2

0.1

05

[127]



6[152]

7[178]

8[203]

GRTx

3xGR

Tx4x

GRTx

5x

GRTx

6x

GRTx

7x

GRTx

8x

GRTx

1xGR

Tx2x

F/3

F=TOTAL GRIP FORCE

BODYSURFACE

F/3

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SIZE06


GRIPPERS

AIR WITH HEAVYSPRING OPEN

AIR WITH HEAVY SPRING CLOSED

AIR ONLY OPEN

AIR ONLY CLOSED

HEAVY SPRING ONLY


AIR WITH HEAVYSPRING CLOSED

AIR ONLY OPEN

AIR ONLY CLOSED

HEAVY SPRING ONLY



AIR ONLY OPEN

AIR ONLY CLOSED

HEAVY SPRING ONLY


AIR WITH HEAVYSPRING CLOSEDAIR ONLY OPEN

AIR ONLY CLOSED

HEAVY SPRING ONLY



AIR ONLY OPEN

AIR ONLY CLOSED

HEAVY SPRING ONLY



AIR ONLY OPEN

AIR ONLY CLOSED

HEAVY SPRING ONLY

0

TOTA

L GR

IP F

ORCE

lb [N

]

0


0.2[5]

GRTx2x-1-xxxx

0.4[10]

0.6[15]

200[890]

0.8[20]

160[712]

40[178]

80[356]

120[534]

1[25]

1.2[30]

1.4[36]

1.6[41]

1.8[46]

2[51]



AIR ONLY OPEN

AIR ONLY CLOSED

HEAVY SPRING ONLY

AIR ONLY OPENAIR ONLY CLOSED

10[45]

HEAVY SPRING ONLY


AIR WITH HEAVY SPRING OPEN

0

TOTA

L GR

IP F

ORCE

lb [N

]

0


GRTx1x-1-xxxx60

[267]

50[222]

20[89]

30[133]

40[178]

0.25[6]

0.5[13]

0.75[19]

1[25]

1.5[38]

1.25[32]

70[311]

0

TOTA

L GR

IP F

ORCE

lb [N

]

0


GRTx3x-1-xxxx

0.5[13]

300[1335]

1[25]

250[1112]

50[222]

150[667]

200[890]

1.5[38]

2[51]

2.5[64]

100[445]

0

TOTA

L GR

IP F

ORCE

lb [N

]

0


GRTx4x-1-xxxx350[1557]

300[1335]

100[445]

200[890]

250[1112]

3[76]

2.5[64]

2[51]

1.5[38]

1[25]

0.5[13]

150[667]

50[222]

0

TOTA

L GR

IP F

ORCE

lb [N

]

0


GRTx5x-1-xxxx700[3114]

300[1335]

4[102]

600[2669]

500[2224]

400[1779]

200[890]

100[445]

0.5[13]

3.5[89]

3[76]

2.5[64]

2[51]

1.5[38]

1[25]

0

TOTA

L GR

IP F

ORCE

lb [N

]

0


0.5[13]

GRTx6x-1-xxxx

1[25]

1.5[38]

1000[4448]

2[51]

800[3559]

200[890]

400[1779]

600[2669]

2.5[64]

3[76]

3.5[89]

4[102]

4.5[114]

5[127]

0

TOTA

L GR

IP F

ORCE

lb [N

]

0


1.5[38]

GRTx7x-1-xxxx

2[51]

2.5[64]

1400[6228]

3[76]

200[890]

3.5[89]

4[102]

4.5[114]

5[127]

5.5[140]

6[152]

400[1779]

600[2669]

800[3559]

1000[4448]

1200[5338]

0.5[13]

1[25]

0

TOTA

L GR

IP F

ORCE

lb [N

]

0


GRTx8x-1-xxxx2000[8897]

1600[7117]

400[1779]

800[3559]

1200[5338]

8[203]

1[25]

7[178]

6[152]

5[127]

4[102]

3[76]

2[51]

Gripping forces are the arithmetic sum of the forces applied by all threejaws. Total gripping force shown is in relation to tooling length at 87 psi[6 bar] actuating pressure. Grip force per jaw equals the total grip forcedivided by three.

Grip forces with springs are based on the average spring force.Spring only forces are shown with no actuating pressure.

PART

TOOLINGLENGTH

OPENCLOSE

Use the following charts to determine thegrip force and maximum tooling length for eachgripper.

If gripping on open (internal grip) andtooling length falls into the shaded area, use alarger gripper or consult PHD for expected life.

If gripping on close (external grip),disregard shaded area.

GRIP FORCE

GRT GRIPPER

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SIZE06


GRIPPERS

GRT GRIPPER




METRIC:TOTAL GRIP FORCE [N] = (Pressure [bar] x GF) x Tooling Length FactorTOTAL GRIP FORCE WITH SPRINGS [N] = ((Pressure [bar] x GF ) ± SF [N]) x Tooling Length Factor

GRIPPER CALCULATION EXAMPLE

GRT152-1-0001, [GRT552-1-0001]Operating Pressure = 87 psi , [6 bar]Find Grip Force Factor GF = 4.35, [281] (from table on page 141)Find Tooling Length Factor = .85, [.85] (See page 142)(Tooling Length of 3.75 in ⇒ .85, [95 mm] Tooling Length Factor)Total Grip Force 4.35 x 87 psi x .85 = 322 lb, [281 x 6 x .85 = 1433 N]

GRT152-1-0051, [GRT552-1-0051]Spring assist close, heavy springsFind Spring Grip Force SF = 175 lb, [779 N] (Average spring force, page 141)175 = (118 + 232)/2, [779 = (525 + 1032)/2](All other data is the same.)Total Grip Force (4.35 x 87 psi + 175 lb) x .85 = 470 lb, [(281 x 6 + 779) x .85 = 2095 N]

PART


BODYSURFACE

(external grip)F/3 = Force per jaw


F/3

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145

SIZE06


GRIPPERS

Mx Per JawTotal Both Jaws (2 x Mx)

My Per JawTotal Both Jaws (2 x My)

Mz Per JawTotal Both Jaws (2 x Mz)

MAX. ALLOWABLE MOMENTS ON GRIPPER JAWS

Mx, Mz: Allowable moments per jaw. Moments measured from the body surface.My: Allowable moment per jaw. Moment measured from the jaw center.

NOTE: When calculating values for Mx, My and Mz, include the grip force perjaw, tooling weight, part weight, external forces, and acceleration as applicable.

in-lb244824482040

Nm2.75.42.75.42.34.5

GRLx2-x-14 x 7in-lb306030602550

Nm3.46.83.46.82.85.6

GRLx2-x-14 x 13in-lb459045903570

Nm5.1105.1104.07.9

GRLx2-x-16 x 20in-lb55

11055

1104590

Nm6.2126.2125.110

GRLx2-x-16 x 26

MxMx

My My

Mz

GRlPARALLEL GRIPPER


SIZEGRL 14x7

GRL 14x13GRL 16x20GRL 16x26

in0.280.510.791.02

mm7132026

MINIMUMTOTAL JAW

TRAVEL


lb28304141

N124132182182

GRIPPERWEIGHTlb

0.180.240.390.47

kg0.080.110.180.21

CLOSE OROPEN TIME

87 psi [6 bar]sec

0.0850.1000.1100.120

DISPLACEMENTin3

.067

.128

.245

.319

cm3

1.12.14.05.2


0.320.340.470.47

METRIC21223030

INTERNALGRIP

IMPERIAL0.320.340.470.47

METRIC21223030




SERIES GRL

5 psi min to 100 psi max [.4 bar min to 7 bar max] air-20° to +180°F [-28° to +82°C]



Field repairable

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146

SIZE06


GRIPPERS


87 psi [6 bar] actuating pressure. Grip force per jaw equals the totalgrip force divided by two. The chart also indicates the maximumtooling length for each gripper size. 87 psi [6 bar]

45[200]

40[178]

35[156]

30[133]

25[111]

20[89]

15[67]

10[44]

5[22]

0

TOTA

L GR

IP F

ORCE

lb

[N]


0 1 2 3 4 5[25] [50] [75] [100] [125]

PART

ToolingLength

Body Surface

F /2


F /2

GRL16x26

MAXTOOLINGLENGTH

MAXTOOLINGLENGTH

GRL16x20GRL14x13

GRL14x7

MAXTOOLINGLENGTH

GRL GRIPPERTOOLING LENGTH FACTOR

Jaw tooling should be designed so that the grip point is asclose to the body surface as possible. As the grip point is movedaway from the body surface, the applied moment causes jaw frictionto increase, resulting in reduced effective grip force. The Grip ForceFactor (GF) values given in the table on page 145 are for zero toolinglength (body surface).


IMPERIAL:



GRIPPER CALCULATION EXAMPLEGripper: Series GRL Size 16 x 20Common Parameters: Operating Pressure = 87 psi [6 bar]

Tooling Length = 3 in [75 mm]


2. Determine Tooling Length Factor = 0.6 [0.6] (from Tooling Length Factor Graph)

3. Total Grip Force Calculations:

For Standard Unit: GRL12-1-16 x 20 [GRL12-5-16 x 20]

Total Grip Force = 87 psi x 0.47 x 0.6 = 25 lb [6 bar x 30 x 0.6 = 108 N]

PART

ToolingLength

Body Surface

F /2


F /2

= 3 in [75 mm]

PART

ToolingLength

Body Surface

F /2


F /2


TOOL

ING

LENG

TH F

ACTO

R

TOOLING LENGTH FACTOR1.0

0.9

0.8

0.7

0.6

0.5

0.4

0.3

0.2

0.1

0.00 1 2 3 4 5 6

[25] [50] [75] [100] [125] [150]

GRL14x7

GRL14x13

GRL16x20

GRL16x26

MAXTOOLINGLENGTH

MAXTOOLINGLENGTH

MAXTOOLINGLENGTH

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147

SIZE06


GRIPPERS

Mz

My

Mx Mx

My

Fa(compression)

Fa(tension)


Fa: Total for both jaws.Mx, My: Allowable moments. Moments measured from the body surface.Mz: Allowable moment. Moment measured from the jaw center.Note: When calculating values for Mx, My and Mz, include the grip force perjaw, tooling weight, part weight, external forces, and acceleration, as applicable.When calculating the value for Fa, include weight of tooling, part weight,acceleration, and external forces.

lb55110220425

N2454909801890

Fa(tension)

lb80

160420760

N356712

18703380

Fa(compression)

in-lb254580

150

Nm2.859

17

Per JawMx, My, and Mz

in-lb5090160300

Nm5.6101834

Both JawsSIZE19252832

GRfPARALLEL GRIPPER




SERIES GRF

30 psi min to 100 psi max [2 bar min to 7 bar max] air-20° to +180°F [-28° to +82°C]



Field repairable

SIZE19 x 4.525 x 6.528 x 628 x 1032 x 832 x 13

in0.1770.2560.2500.3940.3150.512

mm4.56.5610813

MINIMUMTOTAL JAW

TRAVEL


lb3035774811685

N135156341213516378

GRIPPERWEIGHTlb

0.190.280.540.541.01.0

kg0.090.130.240.240.450.45

CLOSE OROPEN TIME

87 psi [6 bar]sec0.080.110.130.130.160.16

DISPLACEMENTin3

0.0680.1340.1820.1820.3350.335

cm3

1.12.23.03.05.55.5


0.350.400.880.551.330.98

METRIC232657368663

INTERNALGRIP

IMPERIAL0.380.430.930.591.421.04

METRIC252860389267


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148

SIZE06


GRIPPERS

GRF GRIPPER

GRIP FORCETotal gripping force relative to tooling length is shown on the

Grip Force Graph at the stated actuating pressure. Grip force per jawequals the total grip force divided by two. The graph also indicatesthe maximum tooling length for each gripper size.

NOTE: The Grip Force Graph shown has been simplified forclarity. To predict grip forces more precisely, refer to the grip forcecalculation equations.


close to the cover surface as possible. As the grip point is movedaway from the cover surface, the applied moment causes jawfriction to increase, resulting in reduced effective grip force. TheGrip Force Factor (GF) values given in the table on page 147 are forzero tooling length (cover surface).

The Tooling Length Factor Graph shows maximum toolinglengths at 40 psi and 100 psi. Refer to sizing software for maximumtooling lengths at other pressures.


TOTAL GRIP FORCE [lb] = (Pressure [psi] x GF ) x Tooling Length FactorMETRIC:

TOTAL GRIP FORCE [N] = (Pressure [bar] x GF) x Tooling Length Factor

At 100 psi [7 bar]At 40 psi [2.76 bar]

NOTE:

GRIP FORCE GRAPH87 psi [6 bar]

0

20[89]

40[178]

60[267]

80[356]

100[445]

120[534]

0 1[25]

2[50]

3[75]

4[100]


TOTA

L GR

IP F

ORCE

lb [N

]

GRF32x8

GRF32x13

GRF28x6

GRF28x10GRF25x6.5GRF19x4.5


0.3

0.4

0.5

0.6

0.7

0.8

0.9

1.0

0 1[25]

2[50]

3[75]

4[100]

MAXIMUM TOOLING LENGTH in [mm]

DERA

TING

FAC

TOR

GRF19x4.5

GRF32x8 & GRF28x10GRF28x6

GRF32x13

GRF25x6.5

PART


F/2 F/2


COVER SURFACE

GRIP FORCE CALCULATIONSTOTAL GRIP FORCE lb [N] = Pressure psi [bar] x GF x Tooling Length Factor

Example: GRF34-1-25x6.5 [GRF34-5-25x6.5]Operating Pressure = 87 psi [6 bar]Tooling Length = 1.5 in [38 mm]Review Graph: (available for 87 psi [6 bar] only)At 1.5 on the graph, the approximate total grip force would be 27 lb [121 N].Calculations:GF Factor = .4 [26] (See table on page 147)Tooling Length Factor = .78 (See Tooling Length Factor graph)Total Grip Force = 87 [6] x .4 [26] x .78 = 27 lb [121 N]

PART

ToolingLength

F/2 F/2


COVER SURFACE

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149

SIZE06


GRIPPERS

TOOLINGLENGTH

BODYSURFACE

PARTF/2

F = TOTAL GRIP FORCE

F/2


SIZE 6 SIZE 7

SIZE 9

TOOLING LENGTH FACTOR1.00

.95

.90

.85

.80

.75

.70

.65

.60

.55

.50

TOOL

ING

LENG

TH F

ACTO

R

0 1 2 3 4 [25] [50] [75] [100]

SIZE 8

TOOLING LENGTH FACTORJaw tooling should be designed so that the grip point is as close

to the body surface as possible. As the grip point is moved away fromthe body surface, the applied moment causes jaw friction to increase,resulting in reduced effective grip force. The grip force factor (GF)values given in the table above are for zero tooling length (bodysurface).

190,191PARALLEL GRIPPER

JAW BACKLASHJaw backlash in the (A) direction will not exceed

.005 in [0.127 mm] per jaw. Total clearancebetween the parallel jaws and the body or coverwill not exceed the following figures:

(B) .0025 inch [0.064 mm] per jaw(C) .003 inch [0.076 mm] per jaw

A

B

C


*Maximum grip force direction is always open (internal grip) on all Series 190 and 191 Jaw Style One units. (19x60, 19x65, 19x70, 19x75,19x80, 19x85, 19x90, and 19x95)

GRIPPER WEIGHT GRIP FORCE FACTOR GF SPRING ASSISTGRIPPER DISPLACEMENT STANDARD SPRING ASSIST MAX. DIRECTION MIN. DIRECTION GRIP FORCE SF

NO. in3 cm3 lb kg oz g Imperial* Metric* Imperial Metric Imperial Metric19x60 & 19x65 .012 0.2 0.11 0.05 — — .061 3.93 .049 3.16 — —19x61 & 19x66 .012 0.2 0.11 0.05 — — .061 3.93 .049 3.16 — —19x62 & 19x67 .012 0.2 0.13 0.06 — — .037 2.39 .029 1.87 — —19x70 & 19x75 .036 0.6 0.24 0.11 0.26 0.12 .122 7.87 .092 5.93 2.230 9.9919x71 & 19x76 .036 0.6 0.25 0.11 0.26 0.12 .122 7.87 .092 5.93 2.230 9.9919x72 & 19x77 .036 0.6 0.27 0.12 0.28 0.12 .093 6.00 .069 4.45 1.690 7.5719x80 & 19x85 .110 1.8 0.64 0.29 0.65 0.29 .250 16.13 .210 13.55 4.280 19.1719x81 & 19x86 .110 1.8 0.67 0.30 0.68 0.31 .250 16.13 .210 13.55 4.280 19.1719x82 & 19x87 .110 1.8 0.71 0.32 0.73 0.33 .150 9.68 .130 8.39 2.630 11.7819x90 & 19x95 .250 4.1 1.44 0.65 1.47 0.67 .490 31.61 .370 23.87 8.700 38.9819x91 & 19x96 .250 4.1 1.46 0.66 1.48 0.67 .490 31.61 .370 23.87 8.700 38.9819x92 & 19x97 .250 4.1 1.62 0.73 1.64 0.74 .270 17.42 .200 12.90 4.760 21.32

SERIES 190 & 19130 psi min to 150 psi max [2 bar min to 10 bar max] air


Within ±0.002 [±0.05 mm] of original centered positionFactory lubricated for rated life

Field repairable

SPECIFICATIONSOPERATING PRESSUREOPERATING TEMPERATURERATED LIFEGRIP REPEATABILITYLUBRICATIONMAINTENANCE

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150

SIZE06


GRIPPERS

GRIP FORCE DIAGRAMS: MODELS 1906x & 1916x

19x61-2-x00x and 19x62-2-x00x19x66-2-x00x and 19x67-2-x00x

CLOSE

OPEN

TOTA

L GR

IP F

ORCE

lbs

[N]

61 & 66 CLOSE

61 & 66 OPEN

6[26.7]

5[22.2]

4[17.8]

3[13.7]

2[8.9]

1[4.5]

0 0 1 2 3 4[25] [50] [75] [100]


62 & 67 CLOSE

62 & 67 OPEN

19x60-2-x00x19x65-2-x00x

CLOSE

OPEN

6[26.7]

5[22.2]

4[17.8]

3[13.7]

2[8.9]

1[4.5]

0

TOTA

L GR

IP F

ORCE

lbs

[N]


60 & 65 OPEN60 & 65 CLOSE

0 1 2 3 4[25] [50] [75] [100]

62 & 67 OPEN

DOUBLE ACTING

Gripping forces are the arithmetic sum of allforces occurring at gripper jaws.

Gripping force in relation to tooling lengthat 87 psi [6 bar] actuating pressure.

Max. Grip Force DirectionMin. Grip Force Direction

LEGEND


CLOSE

OPEN

6[26.7]

5[22.2]

4[17.8]

3[13.7]

2[8.9]

1[4.5]

0

TOTA

L GR

IP F

ORCE

lbs

[N]

0 1 2 3 4[25] [50] [75] [100]

61 & 66 CLOSE

LONGTRAVEL

SHORTTRAVEL


62 & 67 CLOSE

61 & 66 OPEN

TOOLINGLENGTH

190/191 GRIPPER

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151

SIZE06


GRIPPERS

72 & 77 CLOSE

14[62.3]

12[53.4]

10[44.5]

8[35.8]

6[26.7]

4[17.8]

2[8.9]

0

72 & 77 CLOSE

TOTA

L GR

IP F

ORCE

lbs

[N]

14[62.3]

12[53.4]

10[44.5]

8[35.8]

6[26.7]

4[17.8]

2[8.9]

0

71 & 76 OPEN

72 & 77 OPEN

71 & 76 CLOSE


72 & 77 OPEN

70 & 75 OPEN

72 & 77 OPEN



71 & 76 CLOSE72 & 77 CLOSE


72 & 77 OPEN

72 & 77 CLOSE


70 & 75 CLOSE

70 &75 OPEN

DOUBLE ACTING DOUBLE ACTING SPRING ASSIST





19x70-2-x04x19x75-2-x04x

19x70-2-x00x19x75-2-x00x




LEGEND

CLOSE

OPEN

CLOSE

OPEN

CLOSE

OPEN

CLOSE

OPEN

CLOSE

OPEN

TOTA

L GR

IP F

ORCE

lbs

[N]

LONGTRAVEL

Spring Assist this Direction

SHORTTRAVEL

0 1 2 3 4[25] [50] [75] [100]

0 1 2 3 4[25] [50] [75] [100]

12[53.4]

10[44.5]

8[35.8]

6[26.7]

4[17.8]

2[8.9]

0

71 & 76 OPEN

71 & 76 CLOSE

TOTA

L GR

IP F

ORCE

lbs

[N]

0 1 2 3 4[25] [50] [75] [100]

TOTA

L GR

IP F

ORCE

lbs

[N]

0 1 2 3 4[25] [50] [75] [100]

71 & 76 OPEN

TOTA

L GR

IP F

ORCE

lbs

[N]

0 1 2 3 4[25] [50] [75] [100]

12[53.4]

10[44.5]

8[35.8]

6[26.7]

4[17.8]

2[8.9]

0

TOTA

L GR

IP F

ORCE

lbs

[N]

0 1 2 3 4[25] [50] [75] [100]

12[53.4]

10[44.5]

8[35.8]

6[26.7]

4[17.8]

2[8.9]

0

14[62.3]

12[53.4]

10[44.5]

8[35.8]

6[26.7]

4[17.8]

2[8.9]

0

70 & 75 CLOSE

CLOSE

OPEN

TOOLINGLENGTH

71 & 76 OPEN

71 & 76 CLOSE


GRIP FORCE GRAPHS: MODELS 1907x & 1917x

190/191 GRIPPER

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152

SIZE06


GRIPPERS

30[133.5]

25[111.3]

20[89.0]

15[66.8]

10[44.5]

5[22.2]

0

30[133.5]

25[111.3]

20[89.0]

15[66.8]

10[44.5]

5[22.2]

0

TOTA

L GR

IP F

ORCE

lbs

[N]

82 & 87 OPEN


25[111.3]

20[89.0]

15[66.8]

10[44.5]

5[22.2]

0

82 & 87 CLOSE

81 & 86 OPEN

81 & 86 CLOSE


82 & 87 CLOSE

82 & 87 OPEN

81 & 86 OPEN81 & 86 CLOSE


80 & 85 CLOSE

80 & 85 OPEN






19x80-2-x04x19x85-2-x04x

19x80-2-x00x19x85-2-x00x




LEGEND

CLOSE

OPEN

CLOSE

OPEN

CLOSE

OPEN

CLOSE

OPEN

CLOSE

OPEN

TOTA

L GR

IP F

ORCE

lbs

[N]

LONGTRAVEL


SHORTTRAVEL

0 1 2 3 4[25] [50] [75] [100]

0 1 2 3 4[25] [50] [75] [100]

TOTA

L GR

IP F

ORCE

lbs

[N]

0 1 2 3 4[25] [50] [75] [100]

TOTA

L GR

IP F

ORCE

lbs

[N]

0 1 2 3 4[25] [50] [75] [100]

TOTA

L GR

IP F

ORCE

lbs

[N]

0 1 2 3 4[25] [50] [75] [100]

TOTA

L GR

IP F

ORCE

lbs

[N]

0 1 2 3 4[25] [50] [75] [100]


81 & 86 OPEN

81 & 86 CLOSE

82 & 87 OPEN

82 & 87 CLOSE


80 & 85 OPEN

80 & 85 CLOSE

25[111.3]

20[89.0]

15[66.8]

10[44.5]

5[22.2]

0

25[111.3]

20[89.0]

15[66.8]

10[44.5]

5[22.2]

0

30[133.5]

25[111.3]

20[89.0]

15[66.8]

10[44.5]

5[22.2]

0

82 & 87 CLOSE


CLOSE

OPEN81 & 86 CLOSE

81 & 86 OPEN

82 & 87 OPEN

TOOLINGLENGTH


190/191 GRIPPER

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153

SIZE06


GRIPPERS

60[267.0]

50[222.5]

40[178.0]

30[133.5]

20[89.0]

10[44.5]

0

60[267.0]

50[222.5]

40[178.0]

30[133.5]

20[89.0]

10[44.5]

0

90 & 95 OPEN

90 & 95 CLOSE


TOTA

L GR

IP F

ORCE

lbs

[N]






19x90-2-x04x19x95-2-x04x

19x90-2-x00x19x95-2-x00x




LEGEND

CLOSE

OPEN

CLOSE

OPEN

CLOSE

OPEN

CLOSE

OPEN

CLOSE

OPEN

TOTA

L GR

IP F

ORCE

lbs

[N]

LONGTRAVEL


SHORTTRAVEL

0 1 2 3 4[25] [50] [75] [100]

0 1 2 3 4[25] [50] [75] [100]

TOTA

L GR

IP F

ORCE

lbs

[N]

0 1 2 3 4[25] [50] [75] [100]

TOTA

L GR

IP F

ORCE

lbs

[N]

0 1 2 3 4[25] [50] [75] [100]

TOTA

L GR

IP F

ORCE

lbs

[N]

0 1 2 3 4[25] [50] [75] [100]

TOTA

L GR

IP F

ORCE

lbs

[N]

0 1 2 3 4[25] [50] [75] [100]

CLOSE

OPEN

60[267.0]

50[222.5]

40[178.0]

30[133.5]

20[89.0]

10[44.5]

0

90 & 95 OPEN

90 & 95 CLOSE

45[200.2]

40[178.0]

35[155.7]

30[133.5]

25[111.2]

20[89.0]

15[66.7]

10[44.5]

5[22.2]

0

91 & 96 OPEN

92 & 97 OPEN

92 & 97 CLOSE

91 & 96 CLOSE

92 & 97 OPEN

91 & 96 OPEN

91 & 96 CLOSE

92 & 97 CLOSE

91 & 96 OPEN

92 & 97 OPEN91 & 96 CLOSE

92 & 97 CLOSE

91 & 96 CLOSE

92 & 97 CLOSE

92 & 97 OPEN

91 & 96 OPEN

45[200.2]

40[178.0]

35[155.7]

30[133.5]

25[111.2]

20[89.0]

15[66.7]

10[44.5]

5[22.2]

0

45[200.2]

40[178.0]

35[155.7]

30[133.5]

25[111.2]

20[89.0]

15[66.7]

10[44.5]

5[22.2]

0

TOOLINGLENGTH


TOOLING LENGTH inches [mm] TOOLING LENGTH inches [mm]

TOOLING LENGTH inches [mm]TOOLING LENGTH inches [mm]


190/191 GRIPPER

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154

SIZE06


GRIPPERS

190/191 GRIPPERGRIP FORCE CALCULATION EQUATIONS:IMPERIAL:





Gripper: 19x9x-2-x50xCommon Parameters:

Operating Pressure = 60 psi [4 bar]Tooling Length = 3 in [75 mm]

1. Determine Grip Force Factor GF = .490 [31.61] (from table on page 149)


3. Total Grip Force Calculations:For Standard Unit: 19191-2-x50x [19196-2-x50x]

Total Grip Force= 60 psi x .490 x .71 = 20.8 [4 bar x 31.6 x .71 = 89.77 N]


F/2


F/2PART

COVERSURFACE

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155

SIZE06


GRIPPERS

TOOL

ING

LENG

TH F

AC T

OR

8[203]

6[152]

4[102]

2[51]

0

1

0.9

0.8

0.7

0.6

0.510

[254]


DISTANCE FROM FACE OF COVER in [mm]

7[178]

5[127]

3[76]

1[25]

9[224]

1538x,1539x

1537x

1536x


close to the cover surface as possible. As the grip point is movedaway from the cover surface, the applied moment causes jawfriction to increase, resulting in reduced effective grip force. TheGrip Force Factor (GF) values given in the table are for zero toolinglength (cover surface).

TOOLING LENGTH

F/2


PART

BODY SURFACE

F/2

5300PARALLEL GRIPPER

BACKLASHBacklash of gripper jaw will be less than .004 inch [0.10 mm]

parallel to jaw travel. Side play .007 inch [0.18 mm] maximum withjaws at closed “A” dimension.


GRIPPER WEIGHTSPRING ASSIST

GRIPPER STANDARD LIGHT HEAVYNO. lb kg lb kg lb kg

1536x 3.1 1.41 3.2 1.43 3.2 1.441537x 7.0 3.18 7.2 3.24 7.2 3.241538x 14.0 6.35 14.4 6.53 14.6 6.641539x 37.0 16.78 38.7 17.57 39.1 17.73

GRIPPER DISPLACEMENT EXTERNAL GRIP INTERNAL GRIP LIGHT SPRING HEAVY SPRING

NO. in3 cm3 IMPERIAL METRIC IMPERIAL METRIC lb N lb N1536x .73 12.0 1.47 95.0 1.60 109.0 27.0 121.0 38.5 172.21537x 2.58 42.3 3.00 194.0 3.27 211.0 50.0 223.0 85.0 377.61538x 6.09 99.8 5.61 362.0 5.90 381.0 88.0 391.0 145.0 647.01539x 16.82 275.6 11.26 726.0 11.75 758.0 159.0 706.0 343.0 1527.0

SPRING GRIP FORCE SF



STANDARD UNITLIGHT SPRING ASSIST UNITHEAVY SPRING ASSIT UNIT

OPERATING TEMPERATURERATED LIFEGRIP REPEATABILITYLUBRICATIONMAINTENANCE

SERIES 5300 PARALLEL

25 psi min to 150 psi max [1.7 bar min to 10 bar max] air40 psi min to 150 psi max [2.8 bar min to 10 bar max] air65 psi min to 150 psi max [4.5 bar min to 10 bar max] air


Within ±0.002 [±0.05 mm] of original centered positionFactory lubricated for rated life

Field repairable

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156

SIZE06


GRIPPERS


DOUBLE ACTINGWith Spring Assist Close or Open

Provides up to four times the grippingforce of conventional grippers of thesame size.

+ +

PNEUMATIC FORCE

SPRING FORCE

PNEUMATIC FORCE

SPRING FORCE

PNEUMATIC FORCE PNEUMATIC FORCE

SINGLE ACTINGWith Spring Close or Spring Open

Guards against failure due to unforeseenpneumatic pressure loss.


SPRING FORCE SPRING FORCE

SECTION A-A TYPICAL

A A

DOUBLE ACTINGWithout Springs


CONVENTIONALAREA

5300 GRIPPER


TOTAL GRIP FORCE [lb] = (Pressure [psi] x GF ) x Tooling Length FactorTOTAL GRIP FORCE WITH SPRINGS [lb] = ((Pressure [psi] x GF ) ± SF [lb]) x Tooling Length Factor



Gripper: Series 5300 Size 7 (1537x)Common Parameters:




3. Total Grip Force Calculations:For Standard Unit: 15370-1-0000 [15372-1-0000]

Total Grip Force= 87 psi x 3.0 x .85 = 222 lb [6 bar x 194 x .85 = 989 N]

TOOLING LENGTH = 3" [75 mm]

F/2


PART

BODY SURFACE

F/2

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157

SIZE06


GRIPPERS

grrPARALLEL GRIPPER

MODELNUMBER

GRRx2-x-63 x 150GRRx2-x-63 x 200GRRx2-x-63 x 250GRRx2-x-63 x 350

in5.917.879.8413.8

cm3

472629787

1098

MINIMUMTOTAL JAW

TRAVELIMPERIAL

8.09

METRIC

522

EXTERNAL GRIPIMPERIAL

7.27

METRIC

469

INTERNAL GRIP

CLOSE OROPEN TIME

87psi [6 bar]sec0.280.360.420.57


GRIP FORCE VARIES WITH TOOLING LENGTH

lb28.033.039.249.0

mm150200250350

in3

28.838.448.067.0

kg12.715.017.822.2

GRIPPERWEIGHT

SERIES GRR

30 psi min to 120 psi [2 to 8 bar] max air-20° to +180°F [-28° to +82°C]

Higher temperature service available. Consult PHD.5 million cycles minimum with standard seals

Within ±0.002 [±0.05 mm] of original centered positionSee table below



STANDARD UNITOPERATING TEMPERATURE

RATED LIFEGRIP REPEATABILITYCYCLE TIMELUBRICATIONMAINTENANCE

MODELNUMBER

GRRx2-x-63 x 150GRRx2-x-63 x 200GRRx2-x-63 x 250GRRx2-x-63 x 350

lb3500350035003500

FaN

15570155701557015570

in-lb8000900090009000

MxNm880990990990

in-lb6500750075007500

MyNm715825825825

in-lb6500750075007500

MzNm715825825825

MAXIMUM ALLOWABLE FORCES AND MOMENTS

Fa: Total for both jaws.Mx: Allowable moment per jaw, measured from jaw mounting surface.My: Allowable moment per jaw, measured from geometric center of jaw.Mz: Allowable moment per jaw, measured from jaw mounting surface.

ONEDIRECTION

DISPLACEMENT

When calculating the value for Fa, include weight of tooling, partweight, acceleration, and external forces. When calculating values forMx, My, and Mz, include the grip force per jaw, part weight, externalforces, and acceleration as applicable.

NOTE: Moment values assume the use of all threadedmounting holes.

My

Mx

Fa

Mz

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158

SIZE06


GRIPPERS

GRR GRIPPER

RECOMMENDATIONSDesign tooling so that the grip point is as close to the gripper

jaw surface as possible. When the grip point moves away, jawfriction increases, which decreases grip force. The GF informationgiven on this page is for zero tooling length (jaw surface). Thegraphs show how forces decrease as the grip point moves awayfrom the jaw mounting surface.The maximum load that grippers canhandle will vary based on: size of the part being picked up, shape ofthe part, texture of the part, speed at which the part is transferred,

working pressure, shape of the fingers, etc. PHD recommends thatthe fingers of jaws be tooled or machined to conform to the shapeof the part being gripped.

Gripping force is defined as the maximum value at which thejaws will not move from their gripping position. The figures in theCalculated Grip Forces (close) Chart are based on actual measuredresults; figures may vary slightly due to friction. Gripping force isproportional to input pressure.

300

400

500

600

700

800

900

150 mm Travel

TOTA

L GR

IP F

ORCE

lb

[N]

200 mm Travel

250 mm Travel

350 mm Travel

CLOSEOPEN

CLOSEOPEN

CLOSEOPEN

CLOSEOPEN

[1334]

[1779]

[2224]

[2669]

[3114]

[3559]

[4003]

300

400

500

600

700

800

900

TOTA

L GR

IP F

ORCE

lb

[N]

[1334]

[1779]

[2224]

[2669]

[3114]

[3559]

[4003]


400

500

600

700

800

900

TOTA

L GR

IP F

ORCE

lb

[N]

[1779]

[2224]

[2669]

[3114]

[3559]

[4003]

300[1334]

400

500

600

700

800

900

TOTA

L GR

IP F

ORCE

lb

[N]

[1779]

[2224]

[2669]

[3114]

[3559]

[4003]

300[1334]

0 2 4 6 8 10 12 14 16 18 20[50] [100] [150] [200] [250] [300] [350] [400] [450] [500]

0 2 4 6 8 10 12 14 16 18 20[50] [100] [150] [200] [250] [300] [350] [400] [450] [500]

0 2 4 6 8 10 12 14 16 18 20[50] [100] [150] [200] [250] [300] [350] [400] [450] [500]

0 2 4 6 8 10 12 14 16 18 20[50] [100] [150] [200] [250] [300] [350] [400] [450] [500]

87 psi [6 bar]

100 psi [7 bar]

60 psi [4 bar]


TOOLING LENGTH in [mm] TOOLING LENGTH in [mm]

87 psi [6 bar]

100 psi [7 bar]

60 psi [4 bar]

87 psi [6 bar]

100 psi [7 bar]

60 psi [4 bar]

87 psi [6 bar]

100 psi [7 bar]

60 psi [4 bar]


the stated actuating pressure. Grip force per jaw equals the total gripforce divided by two. The graphs also indicate the maximum toolinglength for each gripper size.

PART


F/2F/2

JawSurface

ToolingLength

0.70

0.75

0.85

0.90

0.95

1.00

0 2 4 6 8 10 12 14 16 18 20

TOOL

ING

LENG

TH F

ACTO

R

350 mm

200 mm

250 mm

150 mm

[50]


[100] [150] [200] [250] [300] [350] [400] [450] [500]

0.80

TOOLING LENGTH FACTORJaw tooling should be designed so that the

grip point is as close to the jaw surface as possible.As the grip point is moved away from the jaw surface,the applied moment causes jaw friction to increase,resulting in reduced effective grip force. The grip forcefactor (GF) values given in the table above are for zerotooling length (jaw surface).

The maximum load that grippers can handle willvary based on: size of the part being picked up, shapeof the part, texture of the part, speed at which the part istransferred, working pressure, shape of the fingers, etc. PHDrecommends that the fingers of jaws be tooled or machined toconform to the shape of the part being gripped.

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SIZE06


GRIPPERS


IMPERIAL:



GRIP FORCE CALCULATION EXAMPLE:Gripper: Series GRR Size 63 x 200Common Parameters:



2. Determine Tooling Length Factor = 0.84 [0.84] (from Tooling Length Factor Graph)

3. Total Grip Force Calculations:

For Standard Unit: GRR12-2-63 x 200 [GRR12-6-63 x 200]

Total Grip Force = 87 psi x 8.09 x 0.84 = 591 lb [6 bar x 522 x 0.84 = 2630 N]

PART


F/2F/2

JawSurface


GRR GRIPPER

Documents

GRS - PHD, Inc · grip imperial 0.83 0.59 0.93 0.59 1.33 0.86 2.8 1.9 4.7 3.5 metric 54 38 60 38 86 56 181 123 303 226 grip force factor gf 27 28 32 50 63 specifications operating