# Gripper force
# Scope: Two opposed fingers holding vertically by friction; supplied margin.
# Status: illustrative worked example; engineering review pending.
# Inputs are example values. Checks are editable example requirements, not standards.

mass = 1 kg
gravity = 9.81 m/s^2
friction = 0.3
factor = 2

perFinger := factor*mass*gravity/(2*friction) [N]

check finger force budget: perFinger <= 50 N

scenario alternative: mass = 0.8 kg