Designing End-Effectors 2.8 Designing End-Effectors Design an end-effector such that it is in compliance with items described in this section. 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. 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 (10 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 2-6 . 190 100 90 Center of rotation of J5 80 Center of rotation of J4 and J6 Allowable range of center of gravity position Figure 2-6. Allowable Range of Center of Gravity Position of End-effector Adept Viper s1300 Robot User’s Guide, Rev B 29