Acopper cylinder must be gripped by a 3-fingered robot gripper. the copper cylinder weighs 12.4 lbf. the cylinder must be gripped on a pallet, lifted vertically 10 inches against gravity, transported horizontally 86 inches, placed into a heat treat furnace, then released. the coefficient of friction between the gripper fingernails and the copper cylinder is 0.18. the factor of safety for this application is 2.3. calculate the minimum grip force per finger in lbf for this application.