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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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SIZE06
See SOLUTION BOOK 2006 (CAT-06) for ordering, dimensional, and options data.
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
TOOLING LENGTH in [mm]
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
TOOLING LENGTH in [mm]
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
TOOLING LENGTH in [mm]
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
TOOLING LENGTH in [mm]
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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SIZE06
See SOLUTION BOOK 2006 (CAT-06) for ordering, dimensional, and options data.
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]
TOOLING LENGTH in [mm]
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
87 psi [6 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]
TOOLING LENGTH in [mm]
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]
TOOLING LENGTH in [mm]
0 1 2 3 4[25] [50] [75] [100]
MAXIMUMTOOLINGLENGTHat 60 psi [4 bar]or less
MAXIMUMTOOLINGLENGTHat 87 psi [6 bar]
60 psi [4 bar] WITH SPRING
87 psi [6 bar] WITH SPRING
87 psi [6 bar]60 psi [4 bar]
SPRING ONLY
NOTE: Maximumtooling length varieslinearly with pressure.
MAXIMUMTOOLINGLENGTHat 60 psi [4 bar]or less
MAXIMUMTOOLINGLENGTHat 87 psi [6 bar]
0 1 2 3 4[25] [50] [75] [100]
TOOLING LENGTH in [mm]
80[356]
60[267]
40[178]
20[89]
0
TOTA
L GR
IP F
ORCE
lb
[N]
60 psi [4 bar] WITH SPRING
87 psi [6 bar] WITH SPRING
87 psi [6 bar]
NOTE: Maximumtooling length varieslinearly with pressure.
MAXIMUMTOOLINGLENGTHat 60 psi [4 bar]or less
MAXIMUMTOOLINGLENGTHat 87 psi [6 bar]
87 psi [6 bar] WITH SPRING
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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SIZE06
See SOLUTION BOOK 2006 (CAT-06) for ordering, dimensional, and options data.
GRIPPERS
SIZE 32 x 8NOTE: Maximumtooling length varieslinearly with pressure.
MAXIMUMTOOLINGLENGTHat 60 psi [4 bar]or less
MAXIMUMTOOLINGLENGTHat 87 psi [6 bar]
200[890]
160[712]
120[534]
80[356]
40[178]
0
TOOLING LENGTH in [mm]
0 1 2 3 4[25] [50] [75] [100]
TOTA
L GR
IP F
ORCE
lb
[N]
87 psi [6 bar] WITH SPRING
SPRING ONLY
60 psi [4 bar]
87 psi [6 bar]
60 psi [4 bar] WITH SPRING
SIZE 32 x 13
TOOLING LENGTH in [mm]
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
87 psi [6 bar] WITH SPRING
SPRING ONLY
60 psi [4 bar]
87 psi [6 bar]
60 psi [4 bar] WITH SPRING
NOTE: Maximumtooling length varieslinearly with pressure.
MAXIMUMTOOLINGLENGTHat 60 psi [4 bar]or less
MAXIMUMTOOLINGLENGTHat 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]
TOOLING LENGTH in [mm]
0 1 2 3 4 5 6[25] [50] [75] [100] [125] [150]
87 psi [6 bar] WITH SPRING
SPRING ONLY
60 psi [4 bar]
87 psi [6 bar]
60 psi [4 bar] WITH SPRING
SIZE 50 x 28
300[1334]
200[890]
100[445]
0
TOTA
L GR
IP F
ORCE
lb
[N]
TOOLING LENGTH in [mm]
0 1 2 3 4 5 6[25] [50] [75] [100] [125] [150]
87 psi [6 bar] WITH SPRING
SPRING ONLY
60 psi [4 bar]
87 psi [6 bar]
60 psi [4 bar] WITH SPRING
NOTE: Maximumtooling length varieslinearly with pressure.
MAXIMUMTOOLINGLENGTHat 60 psi [4 bar]or less
MAXIMUMTOOLINGLENGTHat 87 psi [6 bar]
NOTE: Maximumtooling length varieslinearly with pressure.
MAXIMUMTOOLINGLENGTHat 60 psi [4 bar]or less
MAXIMUMTOOLINGLENGTHat 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]
TOOLING LENGTH in [mm]
0 1 2 3 4 5 6 7 8 9[25] [50] [75] [100] [125] [150] [175] [200] [225]
87 psi [6 bar] WITH SPRING
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]
TOOLING LENGTH in [mm]
0 1 2 3 4 5 6 7 8 9[25] [50] [75] [100] [125] [150] [175] [200] [225]
87 psi [6 bar] WITH SPRING
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.
MAXIMUMTOOLINGLENGTHat 60 psi [4 bar]or less
MAXIMUMTOOLINGLENGTHat 87 psi [6 bar]
NOTE: Maximumtooling length varieslinearly with pressure.
MAXIMUMTOOLINGLENGTHat 60 psi [4 bar]or less
MAXIMUMTOOLINGLENGTHat 87 psi [6 bar]
GRS GRIPPER
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SIZE06
See SOLUTION BOOK 2006 (CAT-06) for ordering, dimensional, and options data.
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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SIZE06
See SOLUTION BOOK 2006 (CAT-06) for ordering, dimensional, and options data.
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
GRIP FORCE FACTOR GF
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
SPECIFICATIONSOPERATING PRESSURE
STANDARD UNITMEDIUM SPRING ASSIST UNITHEAVY SPRING ASSIST UNIT
OPERATING TEMPERATURERATED LIFEGRIP REPEATABILITYCYCLE TIMELUBRICATIONMAINTENANCE
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
Factory lubricated for rated lifeField repairable
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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SIZE06
See SOLUTION BOOK 2006 (CAT-06) for ordering, dimensional, and options data.
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
MAX. ALLOWABLE FORCES & MOMENTS ON GRIPPER JAWS
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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SIZE06
See SOLUTION BOOK 2006 (CAT-06) for ordering, dimensional, and options data.
GRIPPERS
GRIP FORCE: SERIES GRDx3/GRDx4
TOOLINGLENGTH
PART
GRDx31-1-x5xxMAXIMUM FORCE CLOSE
TOT
AL G
RIP
FORC
E lb
[N]
50[222]
TOOLING LENGTH inch [mm]
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]
TOOLING LENGTH inch [mm]
0 1[25]
2[51]
3[76]
40[178]
30[134]
20[89]
10[45]
0
CLOSEOPEN
AIR WITH HEAVY SPRINGAIR WITH MEDIUM SPRING
AIR ONLY
HEAVY SPRING ONLY
MEDIUM SPRING ONLY
AIR WITH HEAVY SPRINGAIR WITH MEDIUM SPRING
AIR ONLY
HEAVY SPRING ONLY
MEDIUM SPRING ONLY
TOT
AL G
RIP
FORC
E lb
[N]
60[267]
TOOLING LENGTH inch [mm]
0 1[25]
2[51]
3[76]
50[222]
40[178]
30[134]
20[89]
10[45]
0
GRDx41-1-x5xxMAXIMUM FORCE CLOSE
OPENCLOSE
AIR WITH HEAVY SPRINGAIR WITH MEDIUM SPRING
AIR ONLY
HEAVY SPRING ONLY
MEDIUM SPRING ONLY
GRDx41-1-x0xxMAXIMUM FORCE OPEN
TOT
AL G
RIP
FORC
E lb
[N]
60[267]
TOOLING LENGTH inch [mm]
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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SIZE06
See SOLUTION BOOK 2006 (CAT-06) for ordering, dimensional, and options data.
GRIPPERS
GRIP FORCE: SERIES GRDx5
AIR WITH HEAVY SPRINGAIR WITH MEDIUM SPRING
AIR ONLY
HEAVY SPRING ONLY
MEDIUM SPRING ONLY
TOT
AL G
RIP
FORC
E lb
[N]
140[623]
TOOLING LENGTH inch [mm]
0 1[25]
2[51]
4[102]
100[445]
60[267]
40[178]
20[89]
0
80[356]
120[534]
3[76]
GRDx51-1-x0xxMAXIMUM FORCE OPEN
CLOSEOPEN
AIR WITH HEAVY SPRINGAIR WITH MEDIUM SPRING
AIR ONLY
HEAVY SPRING ONLY
MEDIUM SPRING ONLY
TOT
AL G
RIP
FORC
E lb
[N]
140[623]
TOOLING LENGTH inch [mm]
0 1[25]
2[51]
4[102]
100[445]
60[267]
40[178]
20[89]
0
GRDx51-1-x5xxMAXIMUM FORCE CLOSE
OPENCLOSE
80[356]
120[534]
3[76]
50[222]
30[134]
10[45]
AIR WITH HEAVY SPRINGAIR WITH MEDIUM SPRING
AIR ONLY
HEAVY SPRING ONLY
MEDIUM SPRING ONLY
TOT
AL G
RIP
FORC
E lb
[N]
90[400]
TOOLING LENGTH inch [mm]
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 WITH HEAVY SPRINGAIR WITH MEDIUM SPRING
AIR ONLY
HEAVY SPRING ONLY
MEDIUM SPRING ONLY
TOT
AL G
RIP
FORC
E lb
[N]
90[400]
TOOLING LENGTH inch [mm]
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
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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130
SIZE06
See SOLUTION BOOK 2006 (CAT-06) for ordering, dimensional, and options data.
GRIPPERS
200[890]
100[445]
50[222]
AIR WITH HEAVY SPRINGAIR WITH MEDIUM SPRING
AIR ONLY
HEAVY SPRING ONLY
MEDIUM SPRING ONLY
TOT
AL G
RIP
FORC
E lb
[N]
250[1112]
TOOLING LENGTH inch [mm]
0 1[25]
2[51]
5[127]
150[667]
03
[76]4
[102]
GRDx61-1-x0xxMAXIMUM FORCE OPEN
CLOSEOPEN
200[890]
100[445]
50[222]
AIR WITH HEAVY SPRINGAIR WITH MEDIUM SPRING
AIR ONLY
HEAVY SPRING ONLY
MEDIUM SPRING ONLY
TOT
AL G
RIP
FORC
E lb
[N]
250[1112]
TOOLING LENGTH inch [mm]
0 1[25]
2[51]
5[127]
150[667]
0
GRDx61-1-x5xxMAXIMUM FORCE CLOSE
OPENCLOSE
3[76]
4[102]
5[127]
120[534]
60[267]
20[89]
40[178]
AIR WITH HEAVY SPRINGAIR WITH MEDIUM SPRING
AIR ONLY
HEAVY SPRING ONLY
MEDIUM SPRING ONLY
TOT
AL G
RIP
FORC
E lb
[N]
140[623]
TOOLING LENGTH inch [mm]
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 WITH HEAVY SPRINGAIR WITH MEDIUM SPRING
AIR ONLY
HEAVY SPRING ONLY
MEDIUM SPRING ONLY
TOT
AL G
RIP
FORC
E lb
[N]
140[623]
TOOLING LENGTH inch [mm]
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
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.
GRIP FORCE: SERIES GRDx6
GRD GRIPPER
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131
SIZE06
See SOLUTION BOOK 2006 (CAT-06) for ordering, dimensional, and options data.
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
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
Tooling Length =2.0 in [50 mm]
F/2
F = Total Grip Force
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
See SOLUTION BOOK 2006 (CAT-06) for ordering, dimensional, and options data.
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
TOOLING LENGTH in [mm]
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
TOOLING LENGTH in [mm]
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
TOTAL CLOSEGRIP FORCE AT87 psi [6 bar]
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
GRIP FORCE FACTOR GF
SPECIFICATIONSOPERATING PRESSURE
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
See SOLUTION BOOK 2006 (CAT-06) for ordering, dimensional, and options data.
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
F = Total Grip Force
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
TOOLING LENGTH in [mm]
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
TOOLING LENGTH in [mm]
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]
MAXTOOLINGLENGTHat 87 psi [6 bar]
SIZE 50 CLOSED, 87 psi [6 bar]
SIZE 50 CLOSED, 40 psi [3 bar]
NOTE: Maximumtooling length varieslinearly with pressure.
SIZE 50 OPEN, 40 psi [3 bar]
SIZE 40250
[1112]
200[890]
150[667]
100[445]
50[222]
0
TOOLING LENGTH in [mm]
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 40 OPEN, 87 psi [6 bar]
MAXTOOLINGLENGTHat 40 psi [3 bar]
SIZE 40 CLOSED, 40 psi [3 bar]
SIZE 40 OPEN, 40 psi [3 bar]
SIZE 40 CLOSED, 87 psi [6 bar]
MAXTOOLINGLENGTHat 87 psi [6 bar]
NOTE: Maximumtooling length varieslinearly with pressure.
SIZE 16 CLOSE
SIZE 16 OPEN
SIZE 25 CLOSE
SIZE 25 OPEN
SIZE 32 OPEN
SIZE 32 CLOSE
MAXTOOLINGLENGTH
MAXTOOLINGLENGTH
MAXTOOLINGLENGTH
ToolingLength
F/2
F = Total Grip Force
PART F/2
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134
SIZE06
See SOLUTION BOOK 2006 (CAT-06) for ordering, dimensional, and options data.
GRIPPERS
GRCPARALLEL GRIPPER
BACKLASHJaw backlash in the (A) direction will not exceed .0025 in
[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
SPECIFICATIONSOPERATING PRESSURE
STANDARD UNITMEDIUM SPRING ASSIST UNITHEAVY SPRING ASSIST UNITMEDIUM SPRING ASSIST UNIT WITH SHURGRIPHEAVY SPRING ASSIST UNIT WITH SHURGRIP
OPERATING TEMPERATURERATED LIFEGRIP REPEATABILITYCYCLE TIMELUBRICATIONMAINTENANCE
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
-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 centered positionSee table below
Factory lubricated for rated lifeField repairable
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
See SOLUTION BOOK 2006 (CAT-06) for ordering, dimensional, and options data.
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]
TOOLING LENGTH FACTOR
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
MAX. ALLOWABLE FORCES & MOMENTS ON GRIPPER JAWS
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
See SOLUTION BOOK 2006 (CAT-06) for ordering, dimensional, and options data.
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]
TOOLING LENGTH inches [mm]
GRCx31-2-xxxx & GRCx33-2-xxxxSTANDARD CLOSE
AIR WITH HEAVY SPRINGAIR WITH MEDIUM SPRING
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]
TOOLING LENGTH inches [mm]
GRCx31-2-xxxx & GRCx33-2-xxxxSTANDARD OPEN
AIR WITH HEAVY SPRINGAIR WITH MEDIUM SPRING
AIR ONLY
HEAVY SPRING ONLYMEDIUM SPRING 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]
TOOLING LENGTH inches [mm]
GRCx32-2-xxxx & GRCx34-2-xxxxSHURGRIP CLOSE
AIR WITH HEAVY SPRINGAIR WITH MEDIUM SPRING
AIR ONLY
HEAVY SPRING ONLYMEDIUM SPRING 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]
TOOLING LENGTH inches [mm]
GRCx32-2-xxxx & GRCx34-2-xxxxSHURGRIP OPEN
AIR WITH HEAVY SPRINGAIR WITH MEDIUM SPRING
AIR ONLY
HEAVY SPRING ONLYMEDIUM SPRING 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
See SOLUTION BOOK 2006 (CAT-06) for ordering, dimensional, and options data.
GRIPPERS
0 1[25]
2[51]
3[76]
5[127]
TOT
AL G
RIP
FORC
E lb
[N]
TOOLING LENGTH inches [mm]
GRCx41-2-xxxx & GRCx43-2-xxxxSTANDARD CLOSE
350[1557]
300[1334]
250[1112]
200[890]
150[667]
100[445]
50[222]
04
[102]
AIR WITH HEAVY SPRINGAIR WITH MEDIUM SPRING
AIR ONLY
HEAVY SPRING ONLYMEDIUM SPRING 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]
TOOLING LENGTH inches [mm]
GRCx41-2-xxxx & GRCx43-2-xxxxSTANDARD OPEN
AIR WITH HEAVY SPRINGAIR WITH MEDIUM SPRING
AIR ONLY
HEAVY SPRING ONLYMEDIUM SPRING ONLY
0 1[25]
2[51]
3[76]
5[127]
TOT
AL G
RIP
FORC
E lb
[N]
TOOLING LENGTH inches [mm]
GRCx42-2-xxxx & GRCx44-2-xxxxSHURGRIP CLOSE
4[102]
300[1334]
250[1112]
200[890]
150[667]
100[445]
50[222]
0
AIR WITH HEAVY SPRING
AIR ONLY
HEAVY SPRING ONLYMEDIUM SPRING 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]
TOOLING LENGTH inches [mm]
GRCx42-2-xxxx & GRCx44-2-xxxxSHURGRIP OPEN
AIR WITH HEAVY SPRING
HEAVY SPRING ONLY
AIR WITH MEDIUM SPRING
AIR ONLY
MEDIUM SPRING 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 GRCx4
GRC GRIPPER
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SIZE06
See SOLUTION BOOK 2006 (CAT-06) for ordering, dimensional, and options data.
GRIPPERS
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.
0 1[25]
2[51]
3[76]
6[152]
TOT
AL G
RIP
FORC
E lb
[N]
TOOLING LENGTH inches [mm]
GRCx51-2-xxxx & GRCx53-2-xxxxSTANDARD CLOSE
600[2668]
500[2224]
400[1779]
300[1334]
200[890]
100[445]
04
[102]5
[127]
AIR WITH HEAVY SPRINGAIR WITH MEDIUM SPRING
AIR ONLY
HEAVY SPRING ONLYMEDIUM SPRING ONLY
0 1[25]
2[51]
3[76]
5[127]
TOT
AL G
RIP
FORC
E lb
[N]
TOOLING LENGTH inches [mm]
GRCx51-2-xxxx & GRCx53-2-xxxxSTANDARD OPEN
4[102]
600[2668]
500[2224]
400[1779]
300[1334]
200[890]
100[445]
0
AIR ONLY
HEAVY SPRING ONLYMEDIUM SPRING ONLY
AIR WITH HEAVY SPRINGAIR WITH MEDIUM SPRING
0 1[25]
2[51]
3[76]
6[152]
TOT
AL G
RIP
FORC
E lb
[N]
TOOLING LENGTH inches [mm]
GRCx52-2-xxxx & GRCx54-2-xxxxSHURGRIP CLOSE
4[102]
5[127]
500[2224]
400[1779]
300[1334]
200[890]
100[445]
0
AIR WITH HEAVY SPRINGAIR WITH MEDIUM SPRING
AIR ONLY
HEAVY SPRING ONLYMEDIUM SPRING ONLY
0 1[25]
2[51]
3[76]
5[127]
TOT
AL G
RIP
FORC
E lb
[N]
TOOLING LENGTH inches [mm]
GRCx52-2-xxxx & GRCx54-2-xxxxSHURGRIP OPEN
500[2224]
400[1779]
300[1334]
200[890]
100[445]
04
[102]
AIR ONLY
HEAVY SPRING ONLYMEDIUM SPRING ONLY
AIR WITH HEAVY SPRINGAIR WITH MEDIUM SPRING
PART
TOOLINGLENGTH
GRIP FORCE: SERIES GRCx5
GRC GRIPPER
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SIZE06
See SOLUTION BOOK 2006 (CAT-06) for ordering, dimensional, and options data.
GRIPPERS
0 2[51]
10[254]
TOT
AL G
RIP
FORC
E lb
[N]
TOOLING LENGTH inches [mm]
GRCx61-2-xxxx & GRCx63-2-xxxxSTANDARD CLOSE
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 WITH HEAVY SPRINGAIR WITH MEDIUM SPRING
AIR ONLY
HEAVY SPRING ONLYMEDIUM SPRING ONLY
0 1[25]
2[51]
3[76]
6[152]
TOT
AL G
RIP
FORC
E lb
[N]
TOOLING LENGTH inches [mm]
GRCx61-2-xxxx & GRCx63-2-xxxxSTANDARD OPEN
1400[6227]
1200[5338]
1000[4448]
800[3558]
600[2668]
400[1779]
200[890]
04
[102]5
[127]
AIR WITH HEAVY SPRINGAIR WITH MEDIUM SPRING
AIR ONLY
HEAVY SPRING ONLYMEDIUM SPRING ONLY
0 1[25]
2[51]
3[76]
6[152]
TOT
AL G
RIP
FORC
E lb
[N]
TOOLING LENGTH inches [mm]
GRCx62-2-xxxx & GRCx64-2-xxxxSHURGRIP OPEN
4[102]
5[127]
1000[4448]
800[3558]
600[2668]
400[1779]
200[890]
0
AIR WITH HEAVY SPRINGAIR WITH MEDIUM SPRING
AIR ONLY
HEAVY SPRING ONLYMEDIUM SPRING ONLY
0
TOT
AL G
RIP
FORC
E lb
[N]
TOOLING LENGTH inches [mm]
GRCx62-2-xxxx & GRCx64-2-xxxxSHURGRIP CLOSE
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 WITH HEAVY SPRINGAIR WITH MEDIUM SPRING
AIR ONLY
HEAVY SPRING ONLYMEDIUM SPRING 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 GRCx6
GRC GRIPPER
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140
SIZE06
See SOLUTION BOOK 2006 (CAT-06) for ordering, dimensional, and options data.
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]
GRIP FORCE CALCULATION EQUATIONS:
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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SIZE06
See SOLUTION BOOK 2006 (CAT-06) for ordering, dimensional, and options data.
GRIPPERS
PARALLEL GRIPPER
BACKLASHJaw backlash in the (A) direction will not exceed .010 in
[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
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SPECIFICATIONSOPERATING PRESSURE
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
-20° to +180°F [-28° to +82°C]10 million cycles minimum with standard seals (including spring assist units)
7.5 million cycles minimum for part ejector springsWithin ±0.002 [±0.05 mm] of original centered position
See table belowFactory lubricated for rated life
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
TOTAL CLOSEGRIP FORCE AT87 psi [6 bar]
GRIPPERWEIGHT
CLOSE OROPEN TIME
87 psi [6 bar] DISPLACEMENTEXTERNAL
GRIPIMPERIAL
0.571.432.102.684.616.9910.6717.52
METRIC3793
136173297451688
1131
INTERNALGRIP
GRIP FORCE FACTOR GF
Minimum Operating Pressure is 30 psi [2 bar] for standard unit and 60 psi [4 bar] for spring assist unit.
MODELNO.
GRTx1xGRTx2xGRTx3xGRTx4xGRTx5xGRTx6xGRTx7xGRTx8x
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.
GRTx1xGRTx2xGRTx3xGRTx4xGRTx5xGRTx6xGRTx7xGRTx8x
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
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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.
GRTx1xGRTx2xGRTx3xGRTx4xGRTx5xGRTx6xGRTx7xGRTx8x
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.
MAX. ALLOWABLE FORCES & MOMENTS ON GRIPPER JAWS
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]
TOOLING LENGTH FACTOR
TOOLING LENGTH inch [mm]
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
See SOLUTION BOOK 2006 (CAT-06) for ordering, dimensional, and options data.
GRIPPERS
AIR WITH HEAVYSPRING OPEN
AIR WITH HEAVY SPRING CLOSED
AIR ONLY OPEN
AIR ONLY CLOSED
HEAVY SPRING ONLY
AIR WITH HEAVYSPRING OPEN
AIR WITH HEAVYSPRING CLOSED
AIR ONLY OPEN
AIR ONLY CLOSED
HEAVY SPRING ONLY
AIR WITH HEAVYSPRING OPEN
AIR WITH HEAVYSPRING CLOSED
AIR ONLY OPEN
AIR ONLY CLOSED
HEAVY SPRING ONLY
AIR WITH HEAVYSPRING OPEN
AIR WITH HEAVYSPRING CLOSEDAIR ONLY OPEN
AIR ONLY CLOSED
HEAVY SPRING ONLY
AIR WITH HEAVYSPRING OPEN
AIR WITH HEAVYSPRING CLOSED
AIR ONLY OPEN
AIR ONLY CLOSED
HEAVY SPRING ONLY
AIR WITH HEAVYSPRING OPEN
AIR WITH HEAVYSPRING CLOSED
AIR ONLY OPEN
AIR ONLY CLOSED
HEAVY SPRING ONLY
0
TOTA
L GR
IP F
ORCE
lb [N
]
0
TOOLING LENGTH inch [mm]
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 WITH HEAVYSPRING OPEN
AIR WITH HEAVY SPRING CLOSED
AIR ONLY OPEN
AIR ONLY CLOSED
HEAVY SPRING ONLY
AIR ONLY OPENAIR ONLY CLOSED
10[45]
HEAVY SPRING ONLY
AIR WITH HEAVY SPRING CLOSED
AIR WITH HEAVY SPRING OPEN
0
TOTA
L GR
IP F
ORCE
lb [N
]
0
TOOLING LENGTH inch [mm]
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
TOOLING LENGTH inch [mm]
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
TOOLING LENGTH inch [mm]
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
TOOLING LENGTH inch [mm]
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
TOOLING LENGTH inch [mm]
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
TOOLING LENGTH inch [mm]
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
TOOLING LENGTH inch [mm]
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
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GRIPPERS
GRT GRIPPER
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 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
Tooling Length =3.75 in [95 mm]
BODYSURFACE
(external grip)F/3 = Force per jaw
F = Total Grip Force
F/3
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SIZE06
See SOLUTION BOOK 2006 (CAT-06) for ordering, dimensional, and options data.
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
Visit www.phdinc.comfor online sizing software!
SIZEGRL 14x7
GRL 14x13GRL 16x20GRL 16x26
in0.280.510.791.02
mm7132026
MINIMUMTOTAL JAW
TRAVEL
TOTAL CLOSEGRIP FORCE AT87 psi [6 bar]
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
EXTERNALGRIPIMPERIAL
0.320.340.470.47
METRIC21223030
INTERNALGRIP
IMPERIAL0.320.340.470.47
METRIC21223030
GRIP FORCE FACTOR GF
SPECIFICATIONSOPERATING PRESSURE
STANDARD UNITOPERATING TEMPERATURERATED LIFEGRIP REPEATABILITYCYCLE TIMELUBRICATIONMAINTENANCE
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]
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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SIZE06
See SOLUTION BOOK 2006 (CAT-06) for ordering, dimensional, and options data.
GRIPPERS
GRIP FORCETotal gripping force relative to tooling length is shown below at
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]
TOOLING LENGTH in [mm]
0 1 2 3 4 5[25] [50] [75] [100] [125]
PART
ToolingLength
Body Surface
F /2
F = Total Grip Force
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).
GRIP FORCE CALCULATION EQUATIONS:
IMPERIAL:
TOTAL GRIP FORCE [lb] = (Pressure [psi] x GF ) x Tooling Length Factor
METRIC:TOTAL GRIP FORCE [N] = (Pressure [bar] x GF) x Tooling Length Factor
GRIPPER CALCULATION EXAMPLEGripper: Series GRL Size 16 x 20Common Parameters: Operating Pressure = 87 psi [6 bar]
Tooling Length = 3 in [75 mm]
1. Determine Grip Force Factor GF = 0.47 [30] (from table on page 145)
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 = Total Grip Force
F /2
= 3 in [75 mm]
PART
ToolingLength
Body Surface
F /2
F = Total Grip Force
F /2
TOOLING LENGTH in [mm]
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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SIZE06
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GRIPPERS
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 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
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SPECIFICATIONSOPERATING PRESSURE
STANDARD UNITOPERATING TEMPERATURERATED LIFEGRIP REPEATABILITYCYCLE TIMELUBRICATIONMAINTENANCE
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]
6 million cycles minimumWithin ±0.002 [±0.05 mm] of original centered position
See table belowFactory lubricated for rated life
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
TOTAL CLOSEGRIP FORCE AT87 psi [6 bar]
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
EXTERNALGRIPIMPERIAL
0.350.400.880.551.330.98
METRIC232657368663
INTERNALGRIP
IMPERIAL0.380.430.930.591.421.04
METRIC252860389267
GRIP FORCE FACTOR GF
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SIZE06
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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.
TOOLING LENGTH FACTORJaw tooling should be designed so that the grip point is as
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.
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
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]
TOOLING LENGTH in [mm]
TOTA
L GR
IP F
ORCE
lb [N
]
GRF32x8
GRF32x13
GRF28x6
GRF28x10GRF25x6.5GRF19x4.5
TOOLING LENGTH FACTOR
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
Tooling Length =1.5 in [38 mm]
F/2 F/2
F = Total Grip Force
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
F = Total Grip Force
COVER SURFACE
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SIZE06
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GRIPPERS
TOOLINGLENGTH
BODYSURFACE
PARTF/2
F = TOTAL GRIP FORCE
F/2
TOOLING LENGTH inches [mm]
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
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*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
-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 centered positionFactory lubricated for rated life
Field repairable
SPECIFICATIONSOPERATING PRESSUREOPERATING TEMPERATURERATED LIFEGRIP REPEATABILITYLUBRICATIONMAINTENANCE
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SIZE06
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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]
TOOLING LENGTH inches [mm]
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]
TOOLING LENGTH inches [mm]
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
19x61-2-x50x and 19x62-2-x50x19x66-2-x50x and 19x67-2-x50x
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
TOOLING LENGTH inches [mm]
62 & 67 CLOSE
61 & 66 OPEN
TOOLINGLENGTH
190/191 GRIPPER
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SIZE06
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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
TOOLING LENGTH inches [mm]
72 & 77 OPEN
70 & 75 OPEN
72 & 77 OPEN
TOOLING LENGTH inches [mm]
TOOLING LENGTH inches [mm]
71 & 76 CLOSE72 & 77 CLOSE
TOOLING LENGTH inches [mm]
72 & 77 OPEN
72 & 77 CLOSE
TOOLING LENGTH inches [mm]
70 & 75 CLOSE
70 &75 OPEN
DOUBLE ACTING DOUBLE ACTING SPRING ASSIST
19x71-2-x00x and 19x72-2-x00x19x76-2-x00x and 19x77-2-x00x
19x71-2-x50x and 19x72-2-x50x19x76-2-x50x and 19x77-2-x50x
19x71-2-x53x and 19x72-2-x53x19x76-2-x53x and 19x77-2-x53x
19x71-2-x04x and 19x72-2-x04x19x76-2-x04x and 19x77-2-x04x
19x70-2-x04x19x75-2-x04x
19x70-2-x00x19x75-2-x00x
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
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
TOOLING LENGTH inches [mm]
GRIP FORCE GRAPHS: MODELS 1907x & 1917x
190/191 GRIPPER
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SIZE06
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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
TOOLING LENGTH inches [mm]
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
TOOLING LENGTH inches [mm]
82 & 87 CLOSE
82 & 87 OPEN
81 & 86 OPEN81 & 86 CLOSE
TOOLING LENGTH inches [mm]
80 & 85 CLOSE
80 & 85 OPEN
DOUBLE ACTING DOUBLE ACTING SPRING ASSIST
19x81-2-x00x and 19x82-2-x00x19x86-2-x00x and 19x87-2-x00x
19x81-2-x50x and 19x82-2-x50x19x86-2-x50x and 19x87-2-x50x
19x81-2-x53x and 19x82-2-x53x19x86-2-x53x and 19x87-2-x53x
19x81-2-x04x and 19x82-2-x04x19x86-2-x04x and 19x87-2-x04x
19x80-2-x04x19x85-2-x04x
19x80-2-x00x19x85-2-x00x
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
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]
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]
TOOLING LENGTH inches [mm]
81 & 86 OPEN
81 & 86 CLOSE
82 & 87 OPEN
82 & 87 CLOSE
TOOLING LENGTH inches [mm]
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
TOOLING LENGTH inches [mm]
CLOSE
OPEN81 & 86 CLOSE
81 & 86 OPEN
82 & 87 OPEN
TOOLINGLENGTH
GRIP FORCE GRAPHS: MODELS 1908x & 1918x
190/191 GRIPPER
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SIZE06
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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
TOOLING LENGTH inches [mm]
TOTA
L GR
IP F
ORCE
lbs
[N]
DOUBLE ACTING DOUBLE ACTING SPRING ASSIST
19x91-2-x00x and 19x92-2-x00x19x96-2-x00x and 19x97-2-x00x
19x91-2-x50x and 19x92-2-x50x19x96-2-x50x and 19x97-2-x50x
19x91-2-x53x and 19x92-2-x53x19x96-2-x53x and 19x97-2-x53x
19x91-2-x04x and 19x92-2-x04x19x96-2-x04x and 19x97-2-x04x
19x90-2-x04x19x95-2-x04x
19x90-2-x00x19x95-2-x00x
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
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]
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]TOOLING LENGTH inches [mm]
GRIP FORCE GRAPHS: MODELS 1909x & 1919x
190/191 GRIPPER
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SIZE06
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GRIPPERS
190/191 GRIPPERGRIP 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 FactorTOTAL GRIP FORCE WITH SPRINGS [N] = ((Pressure [bar] x GF ) ± SF [N]) x Tooling Length Factor
GRIP FORCE CALCULATION EXAMPLE:
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)
2. Determine Tooling Length Factor = 0.71 [0.71] (from Tooling Length Factor Graph on page 149 at 3 in [75 mm] tooling length)
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 = TOTAL GRIP FORCE
F/2
Tooling Length =3 in [75 mm]
F/2PART
COVERSURFACE
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SIZE06
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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]
TOOLING LENGTH FACTOR
DISTANCE FROM FACE OF COVER in [mm]
7[178]
5[127]
3[76]
1[25]
9[224]
1538x,1539x
1537x
1536x
TOOLING LENGTH FACTORJaw tooling should be designed so that the grip point is as
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
F = TOTAL GRIP FORCE
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.
Visit www.phdinc.comfor online sizing software!
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
GRIP FORCE FACTOR GF
SPECIFICATIONSOPERATING PRESSURE
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
-20° to +180°F [-28° to +82°C]5 million cycles minimum with standard seals (including spring assist units)
Within ±0.002 [±0.05 mm] of original centered positionFactory lubricated for rated life
Field repairable
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GRIPPERS
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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.
PNEUMATIC FORCE PNEUMATIC FORCE
SPRING FORCE SPRING FORCE
SECTION A-A TYPICAL
A A
DOUBLE ACTINGWithout Springs
PNEUMATIC FORCE PNEUMATIC FORCE
CONVENTIONALAREA
5300 GRIPPER
GRIP 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
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
GRIP FORCE CALCULATION EXAMPLE:
Gripper: Series 5300 Size 7 (1537x)Common Parameters:
Operating Pressure = 87 psi [6 bar]Tooling Length = 3 in [75 mm]
1. Determine Grip Force Factor GF = 3.00 [194] (from table on page 155)
2. Determine Tooling Length Factor = 0.85 [0.85] (from Tooling Length Factor Graph on page 155 at 3 in [75 mm] tooling length)
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
F = TOTAL GRIP FORCE
PART
BODY SURFACE
F/2
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SIZE06
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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 FACTOR GF
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
Factory lubricated for rated lifeField repairable
SPECIFICATIONSOPERATING PRESSURE
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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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]
TOOLING LENGTH in [mm]
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] 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]
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.
PART
F = TOTAL GRIP FORCE
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]
TOOLING LENGTH in [mm]
[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
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GRIPPERS
GRIP FORCE CALCULATION EQUATIONS:
IMPERIAL:
TOTAL GRIP FORCE [lb] = (Pressure [psi] x GF ) x Tooling Length Factor
METRIC:TOTAL GRIP FORCE [N] = (Pressure [bar] x GF) x Tooling Length Factor
GRIP FORCE CALCULATION EXAMPLE:Gripper: Series GRR Size 63 x 200Common Parameters:
Operating Pressure = 87 psi [6 bar]Tooling Length = 10 in [254 mm]
1. Determine Grip Force Factor GF = 8.09 [522] (from table on page 157)
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 = TOTAL GRIP FORCE
F/2F/2
JawSurface
Tooling Length =10 in [254 mm]
GRR GRIPPER