Adept technology Adept XSYS Podręcznik Użytkownika Pobierz pdf (Strona 35)

Designing End-Effectors

AdeptViper s650/s850 Robot User’s Guide, Rev A 35

3.8 Designing End-Effectors

Design an end-effector such that it is in compliance with items described in this section.

Mass of End-Effector

Design the end-effector so that the total mass of the end-effector (including workpiece)

will be lighter than the maximum payload capacity of the robot. The total mass includes

the wiring, piping, etc.

Maximum total mass of end-effector (including workpiece) must be less than or equal to

maximum payload capacity (5 kg).

Center of Gravity Position of End-Effector

Design an end-effector so that the center of gravity position of the end-effector (including

workpiece) is within the range shown in Figure 3-6.

Figure 3-6. Allowable Range of Center of Gravity Position of End-effector

CAUTION: If the end-effector design precautions are not

observed, the clamped parts of the robot unit may become

loose, rattle or be out of position. In the worst case, the

mechanical parts of the robot and robot controller may

become damaged.

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Adept technology Adept XSYS Podręcznik Użytkownika Strona 35