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[]
["Gripping force calculation for Gripper series PZH-SF",null,null,"V1.0"]
[]
[]
["Input","The workpiece to be gripped-Ø [mm]","D1",100]
[null,"Finger-Ø [mm](PZH-SF 350=24mm)","D2",24]
[null,"Length of base jaw [mm] (PZH-SF 350=116mm)","s",116]
[null,"Distance from the center of the gripper to the pivot point of the base jaw [mm] \n(PZH-SF 350=141mm)","a",141]
[null,"Operating pressure [bar]","p",6]
[null,"Gripping torque [Nm] (PZH-SF 350=180Nm)","Mab",180]
[]
[]
["errechnet",null,null,null,null,null,null,null,null,null,"Innengreifen"]
[null,"Werkstückradius","R1",{"$f":"D5/2","v":50},null,null,null,null,null,null,null,"cos alpha",{"$f":"(D8*D8+D14*D14-D7*D7)/(2*D8*D14)","v":0.63297872340425532}]
[null,"Fingerradius","R2",{"$f":"D6/2","v":12},null,null,null,null,null,null,"Länge Berührpunkt bis Drehpunkt","l",{"$f":"SQRT(D8*D8+D16*D16-2*D8*D16*M14)","v":112.50777750893491}]
[null,"Radius Gesamt","R",{"$f":"D15+D14","v":62},null,null,null,null,null,null,null,"alpha",{"$f":"ACOS(M14)","v":0.88540150023422515},{"$f":"DEGREES(M16)","v":50.729769137972468}]
[null,null,null,null,null,null,null,null,null,null,null,"betta1",{"$f":"ASIN(SIN(M16)*D8/M15)","v":1.3261579572526525},{"$f":"DEGREES(M17)","v":75.983253918267636}]
["Aussengreifen",null,null,null,null,null,null,null,null,null,null,"betta2",null,{"$f":"90-N17","v":14.016746081732364}]
[null,"cos alpha",{"$f":"(D8*D8+D16*D16-D7*D7)/(2*D8*D16)","v":0.58733699382292381}]
["Länge Berührpunkt bis Drehpunkt","l",{"$f":"SQRT(D8*D8+D14*D14-2*D8*D14*C19)","v":118.74151922178179}]
[null,"alpha",{"$f":"ACOS(C19)","v":0.94303176256485222},{"$f":"DEGREES(C21)","v":54.031739941749173}]
[null,"betta1",{"$f":"ASIN(SIN(C21)*D8/C20)","v":1.290799599105048},{"$f":"DEGREES(C22)","v":73.957369225897892}]
[null,"betta2",null,{"$f":"90-D22","v":16.042630774102108}]
[]
[]
["Output"]
[null,"External gripping"]
[null,"existing gripping force [N]",{"$f":"COS(D23*PI()/180)*((D10/6*(D9))/(C20/1000))","v":1456.8631326819882}]
[]
[null,"Internal gripping"]
[null,"existing gripping force [N]",{"$f":"COS(N18*PI()/180)*((D10/6*D9)/(M15/1000))","v":1552.2526511405522}]

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[]
["Greifkraftberechnung für Greiferbaureihe PZH-SF",null,null,"V1.0"]
[]
[]
["Eingabe","Zu greifendes Werkstück-Ø [mm]","D1",100]
[null,"Finger-Ø [mm](PZH-SF 350=24mm)","D2",24]
[null,"Grundbackenlänge [mm] (PZH-SF 350=116mm)","s",116]
[null,"Abstand Greifer Mitte bis Drehpunkt Grundbacke [mm] (PZH-SF 350=141mm)","a",141]
[null,"Betriebsdruck [bar]","p",6]
[null,"Greifmoment [Nm] (PZH-SF 350=180Nm)","Mab",180]
[]
[]
["errechnet",null,null,null,null,null,null,null,null,null,"Innengreifen"]
[null,"Werkstückradius","R1",{"$f":"D5/2","v":50},null,null,null,null,null,null,null,"cos alpha",{"$f":"(D8*D8+D14*D14-D7*D7)/(2*D8*D14)","v":0.63297872340425532}]
[null,"Fingerradius","R2",{"$f":"D6/2","v":12},null,null,null,null,null,null,"Länge Berührpunkt bis Drehpunkt","l",{"$f":"SQRT(D8*D8+D16*D16-2*D8*D16*M14)","v":112.50777750893491}]
[null,"Radius Gesamt","R",{"$f":"D15+D14","v":62},null,null,null,null,null,null,null,"alpha",{"$f":"ACOS(M14)","v":0.88540150023422515},{"$f":"DEGREES(M16)","v":50.729769137972468}]
[null,null,null,null,null,null,null,null,null,null,null,"betta1",{"$f":"ASIN(SIN(M16)*D8/M15)","v":1.3261579572526525},{"$f":"DEGREES(M17)","v":75.983253918267636}]
["Aussengreifen",null,null,null,null,null,null,null,null,null,null,"betta2",null,{"$f":"90-N17","v":14.016746081732364}]
[null,"cos alpha",{"$f":"(D8*D8+D16*D16-D7*D7)/(2*D8*D16)","v":0.58733699382292381}]
["Länge Berührpunkt bis Drehpunkt","l",{"$f":"SQRT(D8*D8+D14*D14-2*D8*D14*C19)","v":118.74151922178179}]
[null,"alpha",{"$f":"ACOS(C19)","v":0.94303176256485222},{"$f":"DEGREES(C21)","v":54.031739941749173}]
[null,"betta1",{"$f":"ASIN(SIN(C21)*D8/C20)","v":1.290799599105048},{"$f":"DEGREES(C22)","v":73.957369225897892}]
[null,"betta2",null,{"$f":"90-D22","v":16.042630774102108}]
[]
[]
["Ausgabe"]
[null,"Aussengreifen"]
[null,"vorhandene Greifkraft [N]",{"$f":"COS(D23*PI()/180)*((D10/6*(D9))/(C20/1000))","v":1456.8631326819882}]
[]
[null,"Innengreifen"]
[null,"vorhandene Greifkraft [N]",{"$f":"COS(N18*PI()/180)*((D10/6*D9)/(M15/1000))","v":1552.2526511405522}]