Read the West-Electric case study (Section 12–7) where the gripper design is discussed. Determine the normal force required on the part for the following specifications: (1) a 50 percent safety factor is present, (2) the gripper force is determined using the heaviest part, and (3) maximum robot acceleration of 3 feet per second squared occurs upward at a 60 degree angle off the vertical. Use available references to find the coefficient of static friction for the gripper and part material. Document all assumptions and include all calculations. Complete the questions and problems at the end of Chapter 12 that relate to the gripper design.
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