HORIZONTAL MOUNTING
JAW MOMENT = GRIP FORCE x L2
MOMENT 'A' = (LOAD x L1) + (JAW SELF WEIGHT x JAW CENTER OF GRAVITY (FROM CYLINDER))
VERTICAL MOUNTING
JAW MOMENT = (GRIP FORCE+LOAD) x L2
MOMENT 'B' = (LOAD x L1) + (JAW SELF WEIGHT x JAW CENTER OF GRAVITY (FROM CYLINDER))
DOWNWARD FACING
If the gripper is to be used to lift a load vertically while facing the ground, and the part is held by friction only, then normally only the jaw moment needs to be calculated: JAW MOMENT = GRIP FORCE x L2.
If the load is held mechanically, the combined bending and normal loading on the linear bearing will need to be calculated.