Product manual

Model #RB3-065/035 20 R20140519
Conforming to the target object:
When the gripper is on approach about 3” above the target object,
begin applying positive pressure in order to soften the gripper (i.e.
open the valve connected to the gripper’s release port). The pulse
should last approximately 1 second and can occur while the gripper
is moving. You may find that it is advantageous to continue applying
positive pressure as the gripper is pressed onto the target object to aid
in gripper deformation. When ideally utilized, positive pressure will
serve to minimize the required contact force between the gripper
and the object, but will also leave little or no excess air in the gripper
when contact is complete. Too much air left within the gripper after
contact can dramatically weaken the grip force because vacuum-
hardening will cause the gripper to contract away from the object and
towards this void space, instead of in the desired pinching direction.
Experimenting with this positive pressure timing (as well as the
included flow-control valve on the release port) will help you tune the
gripper’s performance to best match your target object.
Press the gripper onto the target object from above. If force control is
available, it is recommended to contact (press onto) the object with
approximately 10-20 lbf. This contact will also require some tuning,
especially if force feedback is not available.
For most target objects, the deeper the object can be driven up into
the gripper, the greater the resulting gripping force. However, if the
gripper is pushed down too far such that it contacts the work surface,
gripping force can begin to decrease, as shown in Figure 18. This is
because the frictional forces between the gripper and the work surface
can prevent the gripper from contracting to conform to the target
object.