Robot Vacuum Gantry and 6 axis

[grunt58]

I was wondering if there is a base line number/average I can use to help calculate the size and amount of vacuum cups one would need.

I know it depends on leakage, distance, # of cups, psi applied etc. but I was hoping there is some sort of baseline I can use as a starting point.  I'm trying to make a force calculator with excel or maybe there is already one on the internet.

With 87 psi how much vacuum (inHg) could I pull.

Thanks for any help....

[jeyapalan]

Here is something that may help