HOME
ID : 4827
Engineering-design Notes for Robot Hands
Design a robot hand so that it will satisfy conditions described below.
Strictly observe these engineering-design notes. Otherwise, the clampedsections of the robot unit will become loose, rattle or be out of position. In the worstcase, the mechanical parts of the robot unit and the robot controller may be damaged.
Mass of Hand
The total mass of a hand (including workpiece) should be less than the maximum allowable payload of the robot. Be sure to include the mass of wiring and piping used for hands.
| Total mass of hand ≤ Maximum allowable payload (incl. workpiece) |
Center of Gravity of Hand
The center of gravity of a hand (including workpiece) should be located within the range specified in the figure below.
|
|
Moment of Inertia Around the T-axis
The moment of inertia of a hand (including workpiece) around the T-axis should be less than the maximum allowable moment of inertia around the T-axis of the robot.
| Moment of inertia of hand around the T-axis (incl. workpiece)≤ Maximum allowable moment of inertia
(XR series: 0.05kgm2) |
Calculate the moment of inertia around the T-axis, referring to "Moment-of-Inertia Formulas".
Precautions on End-effector installation
Do not apply any external force (such as hammering) on the datum hole φ5H7. Doing so will damage the hole. The diagram of "datum hole" is added.
For the datum hole, refer to "Mounting the CALSET jig on the 4th axis (T-axis)
".
ID : 4827
- Related Information
- Moment-of-Inertia Formulas