Pneumatic GrippersParallel and Angular Grippers zee01

Catalog 1900-2/US

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FAILURE OR IMPROPER SELECTION OR IMPROPER USE OF THE PRODUCTS AND/OR SYSTEMS DESCRIBED HEREIN OR RELATED ITEMS CAN CAUSE DEATH,PERSONAL INJURY AND PROPERTY DAMAGE.

This document and other information from Parker Hannifin Corporation, its subsidiaries and authorized distributors provide product and/or system options for further investigation byusers having technical expertise. It is important that you analyze all aspects of your application and review the information concerning the product or system in the current productcatalog. Due to the variety of operating conditions and applications for these products or systems, the user, through its own analysis and testing, is solely responsible for making thefinal selection of the products and systems and assuring that all performance, safety and warning requirements of the application are met.

The products described herein, including without limitation, product features, specifications, designs, availability and pricing, are subject to change by Parker Hannifin Corporationand its subsidiaries at any time without notice.

WARNING

The items described in this document are hereby offered for sale by Parker Hannifin Corporation, its subsidiaries or its authorized distributors. This offer and its acceptance are governedby the provisions stated in the "Offer of Sale" found on the last page of this publication.

Copyright 2003, Parker Hannifin Corporation, All Rights Reserved

Offer of Sale

Parker Hannifin CorporationAutomation Actuator DivisionWadsworth, Ohio USA

I Parker Hannifin CorporationActuator DivisionWadsworth, Ohio USA

IntroducingParker's Expanded Lineof Pneumatic Grippers

Parallel Grippers• Miniature• Automation• Low Profile• Precision• Long Stroke• Heavy Duty• Three-Jaw

Angular Grippers• Miniature (30° and 180°)• Automation (30° and 180°)• High Force (30°)• Precision (30° and 180°)• Locking (12°)

II Parker Hannifin CorporationActuator DivisionWadsworth, Ohio USA

Pneumatic GrippersIntroduction

Catalog 1900-2/US

GPEL-8

GPEL-12GPDL-8GPDL-12GPDL-14 (S)GPDL-14 (L)GPDL-18 (S)GPDL-18 (L)P5G-HPL-1P5G-HPL-2P5G-HPL-3P5G-HPL-4

P5G-RH1P5G-RH2P5G-RH3P5G-RH4P5G-RH5P5G-HP-50PP5G-HP-100PP5G-HP-25PP5G-HP-35PP5G-HP-40PP5G-HP-43P

GPK-12GPK-16GPK-20GPK-25P5G-HPW-250P5G-HPW-375-1P5G-HPW-375-2P5G-HPW-500-1P5G-HPW-500-2P5G-HPW-625-1P5G-HPW-625-2P5G-HPW-750P5G-HPB-24

P5G-HPB-26

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GPR-1AGPR-3AGPR-10AGPCR-10CGPCR-16CGPCR-20CGPCR-25CP5G-HPM-1P5G-HPM-2P5G-HPM-3

P5G-HP-5P5G-HP-10P5G-HP-11P5G-HP-11-DP5G-HP-12P5G-HP-12-DP5G-HP-15P5G-HP-15-DP5G-HP-17P5G-HP-17-DP5G-HP-18P5G-HP-18-DP5G-HP-19P5G-HP-19-DGPT10

GPT15P5G-AP3P5G-AP4P5G-AP5P5G-AP6

Model Number

Total Grip Force (lbs)Stroke (in)

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Product Selection Guide

Parallel Grippers

● = standard, O = optional

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O O 10O O 11O O 12O O 13

O O 16O O 17O O 18

O 22O 23O 24O 25O 26O 27O 28O 29O 30O 31O 32O 33O 34O 35

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O O O 70O O O 71O O O 72O O O 73

O 78O 79O 80O 81O 82

O O 86O O 87O O 88O O 89O O 90O O 91

O 96O 97O 98O 99

O O 102O O 103O O 104O O 105O O 106O O 107O O 108O O 109

114

115

III Parker Hannifin CorporationActuator DivisionWadsworth, Ohio USA

Pneumatic GrippersIntroduction

Catalog 1900-2/US

P5G-HPC-315P5G-HPC-320P5G-HPC-331P5G-HPC-344P5G-HPC-356P5G-HPC-368T

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GVC-8 O 132GVC-10 O 133GVC-16 O 134GVC-20 O 135GVC-25 O 136GAA101 140

GAA151 141

P5G-HA-5 O 146P5G-HA-6 O 147P5G-HA-7 O 148P5G-HA-8 O 149P5G-HA-10 O 150P5G-AA3 O 154P5G-AA4 O 155P5G-AA5 O 156P5G-AA6 O 157P5G-RK1 O 162P5G-RK2 O 163P5G-RK3 O 164P5G-RK4 O 165P5G-RK5 O 166

3H2 O O 174

P5G-HA15 12 O 170

P5G-HA25 12 O 171

GVH-12 178GVH-16 179GVH-20 180GVH-25 181GAW101 184

GAW151 185

P5G-AW3 O 190P5G-AW4 O 191P5G-AW5 O 192P5G-AW6 O 193P5G-RB1 O 200P5G-RB2 O 201P5G-RB3 O 202

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Product Selection Guide

Angular Grippers

Three Jaw Grippers

O 120O 121O 122O 123O 124O 125

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IV Parker Hannifin CorporationActuator DivisionWadsworth, Ohio USA

Pneumatic GrippersIntroduction

Catalog 1900-2/US

Design Guidelines

Force RequirementsWhen determining gripper force requirements, the gripperfingers must be able to control the workpiece under worst-case conditions. The specific workpiece needs to maintaina steady, constant position within the grasp of the fingers,and at the same time, care must be taken to ensure theworkpiece will not deform.

There are two types of grips that determine the forcerequired from a gripper: (1) friction grip and (2) encompass-ing grip.

Friction grip depends on the frictional force of the gripperto maintain the position of the workpiece. Generally, thiscorresponds to tight tolerances and increased positionalaccuracy. Typical coefficient of friction for a friction grip is0.2 to 0.4. This will vary depending on specific applications.A typical friction grip requires as much as four times theforce to perform the same function as an encompassinggrip.

Friction Grip(Parallel Gripper Shown)

Encompassing Grip(Angular Gripper Shown)

L

Encompassing grip uses the fingers to cradle theworkpiece. This provides for more stability and safetybecause the fingers must be forced open to move theworkpiece.

Grip ForcesForces are additive when figuring out the total gripperholding force. The weight of the workpiece governs therequired holding force. Forces can be broken down into:

• Weight – weight of part and tooling• Acceleration – starting and stopping forces

Both forces are additive.

A factor of safety should always be included and can varydepending on specific application. In general, the followingfactor of safety is suggested:

Friction grip 4Encompassing grip 1.25

Example 1 uses gravitational force (G = 32.26 ft/s2) to solvefor gripper holding force.

Example 1:

A workpiece weighing 20 pounds is subject to an accelera-tion of .5G (16.1 ft/s2). The grip force needed is

Weight of Workpiece + Acceleration Force = Grip Force

20 lbf + (20 lbf x .5) = 30 lbf

From the example, solve for grip force.

Friction grip = 4 x 30 lbf = 120 lbf

Encompassing grip = 1.25 x 30 lbf = 37.5 lbf

Use load charts for individual gripper models to determinethe correct gripper size.

TorqueThe forces acting on the center of gravity of the workpieceat a distance (L) from the bottom of the gripper creates amoment arm.

The sum of the force components acting on the center ofgravity can be broken down into:

• Force created by static load• Force created from acceleration

Both forces are additive so that:

Sum of Force Components x Distance (L) = Total Torque

When solving for torque, be aware that forces will changedepending on the orientation of the workpiece. To minimizetorque, the workpiece should be gripped as close to the topof the gripper as possible.

V Parker Hannifin CorporationActuator DivisionWadsworth, Ohio USA

Pneumatic GrippersIntroduction

Catalog 1900-2/US

System DesignThe two main considerations are (1) throughput and productiv-ity design and (2) reliability design. By overlapping eachcriteria, a design may concentrate on both production andreliability. Also, in multiple steps or functions, both designconcentrations can be utililzed to achieve a desired result.Each function in the system is unique and must be analyzedaccording to a specific design criteria.

Throughput and Productivity Criteria1) Minimize dead space between gripper fingers and

workpiece. This is the clearance between a fully open/closed gripper and the workpiece. Use encompassinggripper fingers and minimal jaw travel.

2) Minimize weight of gripper to decrease acceleration forces.3) Clamp workpiece securely. Use an encompassing grip to

increase machine speeds.4) Avoid time consuming tool changes. Use one gripper for

various workpieces.5) Use one gripper to perform multiple functions.

Reliability Criteria1) Clamp workpiece securely. Minimize the possiblity of a

dropped or misaligned workpiece.2) Use encompassing type grip. Ensure precision and

accuracy.3) Regulate clamping force. Protect against deforming the

workpiece.4) Minimize finger length. The longer the tooling, the more

the finger will deflect and lose grip force.5) Provide sufficient deadspace to ensure clearance between

the part and the fingers. Minimize the chance of thefingers crashing into a misaligned part.

6) Gripper fingers should properly align the workpiece oncritical operations.

7) Surface materials of both gripper and workpiece shouldclamp at low friction to ensure precise and accurateplacement of the workpiece.

8) Do not use parts in an assembled workpiece to maintainproper part alignment in the gripper – any tolerance in theassembled workpiece can affect the alignment.

9) Use a gripper dedicated to one function to performmultiple functions – minimizes the chance of beingmishandled since the workpiece never leaves the gripper.

10) Utilize cushions or shock absorbers to create smoothacceleration or deceleration.

Conversion ChartMetric to English(Multiply ___ by______ to obtain)

Lengthmm 0.0394 in

Areamm2 0.0016 in2

cm2 0.155 in2

Volumemm3 6.10x10-5 in3

cm3 (cc) 0.061 in3

L 0.0353 ft3

Weightg 0.0353 oz.kg 2.204 lb.

Forcekgf 2.204 lbfN 0.224 lbf

TorqueNm 0.737 ft-lb

PressurekPa 0.145 psibar 14.50 psi

EnergyNm 0.737 ft-lb

PowerW 0.737 ft-lb/skW 1.341 hp

Temperature°F = (1.8 x °C) + 32

Flow ratel/min x 0.035 = SCFM

Keymm = millimetercm = centimetercc = cubic centimeterL = literg = gramkg = kilogramkgf = kilogram forceN = NewtonNm = Newton meter

in = inchft = footoz = ouncelb = poundlbf = pound forceft-lb = foot pound

Design Guidelines

Using Catalog DataLoad DataThe graph curves have been determined mathematically.Forces may deviate in practical applications from predeter-mined values. For maximum gripping force, keep fingertooling as short as possible. Maximum load that gripperscan handle will vary depending on part size, texture, shapeof finger tooling, speed, acceleration and air pressure.

Dimensional DataUnless otherwise noted, all dimensions are in inches (mm).All tolerances are as shown below:

Imperial (in) Metric (mm)0.0 = ±0.01 [0] = [± 0.25]0.00 = ±0.005 [0.0] = [± 0.13]0.000 = ±0.0005 [0.00] = [± 0.013]

VI Parker Hannifin CorporationActuator DivisionWadsworth, Ohio USA

Pneumatic GrippersIntroduction

Catalog 1900-2/US

Contact Information:

Name:

Company:

Weight of workpiece:

Workpiece hardness:

Workpiece temperature:

Workpiece shape:

Number of orientations per cycle:

Type of actuator:

Maximum acceleration:

Cycles per minute:

Distance Travel per Step:

Type of Fingers: Friction _____ Encompassing ______

Workpiece positioning tolerance:

Supply air pressure:

Control method:

Electrical supply:

Operating conditions:

Type of position sensor:

Number of sensors:

Flow controls*:

*Flow controls are recommended on all grippers.

Sketch of applications

Please tell us about your application and we will respond promptly with recommendations. Please provide the followingapplication details and fax to (330) 334-3335.

Phone Number:

Fax Number:

E-Mail:

Application Fax