Angular Style Air Gripper Series MHC2/MHCA2/MHCM2

A part z1 m1 = 20 x 3 x 4 x 2.7 x 10-6 = 6.48 x 10-4 (kg) Mass calculation m1 = a x b x c x Relative density Z1 Inertial moment around Z1 axis Z1 = {m1 (a2 + b2) / 12} x 10-6 = {6.48 x 10-4 x (202 + 32)/12} x 10-6 = 2.21 x 10-8 (kg.m2) = 2.21 x 10-8 + 6.48 x 10-4 x 16.42 x 10-6 = 0.20 x 10-6 (kg.m2) A Inertial moment around Z axis A = Z1 + m1r12 x 10-6 z f2 z2 B part r2 = 23.5(mm) Mass

NCM

Nil XB6 XB7 XB9 XC4 XC6 X103US X114US None High temperature Note 10, 11) Mounting Front nose mount Rear pivot mount Double end mount Block mount Note 2, 10, 11) B C E R W Low temperature Note 10, 11) Low speed Note 10, 11) Heavy duty wiper Note 10) Bore size Stainless steel rod Note 9) Double rod Note 3, 10) Rotated ports Note 7, 10) 7/16" 9/16" 3/4" 7/8" 1-1/16" 1-1/4" 1-1/2" 2" Note 3,

2 Finger, 3 Finger Rotary Actuated Air Gripper Series MHR2/MHR3 1

MHR2-10/MDHR2-10 MHR2-10/MDHR2-10 20 20 Pressure 0.6 MPa Pressure Gripping force (N) Gripping force (N) 15 15 0.6 MPa 0.5 MPa MHZ 0.5 MPa 10 10 0.4 MPa 0.4 MPa MHF External grip 0.3 MPa 0.3 MPa 5 5 MHL 0.2 MPa 0.2 MPa MHR 0 10 20 30 40 50 0 10 20 30 40 50 Gripping point L (mm) Gripping point L (mm) MHK Courtesy of Steven Engineering, Inc.-230 Ryan Way, South San Francisco, CA 94080-6370-Main

MHC2

A part z1 m1 = 20 x 3 x 4 x 2.7 x 10-6 = 6.48 x 10-4 (kg) Weight calculation m1 = a x b x c x Relative density IZ1 Inertial moment around Z1 axis IZ1 = {m1 (a2 + b2) / 12} x 10-6 = {6.48 x 10-4 x (202 + 32)/12} x 10-6 = 2.21 x 10-8 (kg.m2) = 2.21 x 10-8 + 6.48 x 10-4 x 16.42 x 10-6 = 0.20 x 10-6 (kg.m2) IA Inertial moment around Z axis IA =IZ1 + m1r12 x 10-6 z f2 z2 B part r2 = 23.5(mm)

MHC2

A part z1 m1 = 20 x 3 x 4 x 2.7 x 10-6 = 6.48 x 10-4 (kg) Weight calculation m1 = a x b x c x Relative density IZ1 Inertial moment around Z1 axis IZ1 = {m1 (a2 + b2) / 12} x 10-6 = {6.48 x 10-4 x (202 + 32)/12} x 10-6 = 2.21 x 10-8 (kg.m2) = 2.21 x 10-8 + 6.48 x 10-4 x 16.42 x 10-6 = 0.20 x 10-6 (kg.m2) IA Inertial moment around Z axis IA =IZ1 + m1r12 x 10-6 z f2 z2 B part r2 = 23.5(mm)

180° Angular Style Air Gripper Series MHY2/MHW2

= 9.0 x 10-6 (kgm2) Moment of inertia around Z axis = Z1 m1r12 X 10-6 z r2 z2 B part r2 = 47(mm) Calculation of weight m2 = d x e x f x Specific gravity m2 = 5 x 10 x 12 x 2.7 x 10-6 = 0.002 (kg) Moment of inertia around Z2 axis Z2 = {m2 (d2 + e2)/12} x 10-6 Z2 = {0.002 x (52 + 102)/12} x 10-6 = 0.02 x 10-6 (kgm2) B = 0.02 x 10-6 + 0.002 x 472 x 10-6 = 4.4 x 10-6 (kgm2) = 9.0 x 10-6

Bore Size: 20mm, Pilot Port Location: L (Left), Stroke: 30mm, Mounting Bolt: L (w/Mounting Bolt), Auto Switch: M9N--Solid State, Gen. Purpose, 3 Wire NPN, Horizontal, Lead Wire or Prewired Connector: SAPC (0.5m Cord Length, M8-3 Pin Connector)

Bore Size: 20mm, Pilot Port Location: L (Left), Stroke: 25mm, Mounting Bolt: w/o Mounting Bolt, Auto Switch: M9BA--Solid State, Water Resist., 2 Wire, Horizontal, Lead Wire or Prewired Connector: M (1m)

Bore Size: 20mm, Pilot Port Location: L (Left), Stroke: 20mm, Mounting Bolt: L (w/Mounting Bolt), Auto Switch: M9N--Solid State, Gen. Purpose, 3 Wire NPN, Horizontal, Lead Wire or Prewired Connector: SDPC (0.5m Cord Length, M12-4 Pin Connector), Number: 4 pcs.

Bore Size: 20mm, Pilot Port Location: L (Left), Stroke: 5mm, Mounting Bolt: w/o Mounting Bolt, Auto Switch: M9PV--Solid State, Gen. Purpose, 3 Wire PNP, Vertical, Lead Wire or Prewired Connector: SDPC (0.5m Cord Length, M12-4 Pin Connector), Number: 3 pcs.

Bore Size: 20mm, Pilot Port Location: L (Left), Stroke: 50mm, Mounting Bolt: L (w/Mounting Bolt), Auto Switch: M9B--Solid State, Gen. Purpose, 2 Wire, Horizontal, Lead Wire or Prewired Connector: L (3m)

Bore Size: 20mm, Pilot Port Location: L (Left), Stroke: 5mm, Mounting Bolt: w/o Mounting Bolt, Auto Switch: M9BV--Solid State, Gen. Purpose, 2 Wire, Vertical

Bore Size: 20mm, Pilot Port Location: L (Left), Stroke: 50mm, Mounting Bolt: L (w/Mounting Bolt), Auto Switch: M9PWV--Solid State, 2-color Indication, 3 Wire PNP, Vertical, Lead Wire or Prewired Connector: SBPC (0.5m Cord Length, M8-4 Pin Connector)

Bore Size: 20mm, Pilot Port Location: Left, Stroke: 30mm, Mounting Bolt: w/Mounting Bolt, Auto Switch: M9N--Solid State, Gen. Purpose, 3 Wire NPN, Horizontal, Lead Wire or Prewired Connector: 0.5m Cord Length, M8-3 Pin Connector, Number: -

Bore Size: 20mm, Pilot Port Location: Left, Stroke: 25mm, Mounting Bolt: w/o Mounting Bolt, Auto Switch: M9BA--Solid State, Water Resist., 2 Wire, Horizontal, Lead Wire or Prewired Connector: 1m, Number: -

Bore Size: 20mm, Pilot Port Location: Left, Stroke: 20mm, Mounting Bolt: w/Mounting Bolt, Auto Switch: M9N--Solid State, Gen. Purpose, 3 Wire NPN, Horizontal, Lead Wire or Prewired Connector: 0.5m Cord Length, M12-4 Pin Connector, Number: 4 pcs.

Bore Size: 20mm, Pilot Port Location: Left, Stroke: 5mm, Mounting Bolt: w/o Mounting Bolt, Auto Switch: M9PV--Solid State, Gen. Purpose, 3 Wire PNP, Vertical, Lead Wire or Prewired Connector: 0.5m Cord Length, M12-4 Pin Connector, Number: 3 pcs.

Bore Size: 20mm, Pilot Port Location: Left, Stroke: 50mm, Mounting Bolt: w/Mounting Bolt, Auto Switch: M9B--Solid State, Gen. Purpose, 2 Wire, Horizontal, Lead Wire or Prewired Connector: 3m, Number: -

Bore Size: 20mm, Pilot Port Location: Left, Stroke: 5mm, Mounting Bolt: w/o Mounting Bolt, Auto Switch: M9BV--Solid State, Gen. Purpose, 2 Wire, Vertical, Lead Wire or Prewired Connector: -, Number: -

Bore Size: 20mm, Pilot Port Location: Left, Stroke: 50mm, Mounting Bolt: w/Mounting Bolt, Auto Switch: M9PWV--Solid State, 2-color Indication, 3 Wire PNP, Vertical, Lead Wire or Prewired Connector: 0.5m Cord Length, M8-4 Pin Connector, Number: -