1. About HRLoad

 

For designing a working process that use robots, they should be selected by taking into consideration the loads of tools of robots, the loads from works, and the working range. If loads are too big for selected robots, their lifetime will be adversely influenced. In this case, the error due to overloading will be generated to prevent such situation from taking place. 

 

As the specifications of individual robots show the payload, which users need to refer to. However, even when the weight is same, the force to be applied on individual robots will vary significantly depending on the center of mass of the load and the robot’s moving pattern. It would be hard to determine about the optimal condition only based on the payload.

 

Using HRSpace, a HHI’s OLP simulator, will help select a robot and conduct teaching and reproducing in a virtual environment, which will make it possible to carry out a test in advance to see if overloading will occur. Just like manipulating the Hi5’s controller actually, users enter the additive load and the conditions of it, and playback it. Then, the internal dynamics algorithm will detect the overloading, and will notify the situation to the users by generating an error. Even in a virtual environment, it would take long time to conduct the teaching. So, it would be impossible to select a robot quickly while dong such tests for multiple robots.

 

 

Figure 1.1 Load-related err displayed on the virtual teach pendant of HRSpace

 

HRLoad is a utility that operates in a way that when the weight of the additive load, the position of the center of mass, the moment of inertia are entered, the utility will indicate whether overweight will be applied on various types HHI’ robots. It has some limitation in terms of accuracy of its calculation as it comes up with the calculation only based on the conditions of the load, without taking into consideration the patterns of the robot’s activities of the work program. However, it is still advantageous in that it will help select a robot quickly before the off-line teaching for the robot can be conducted.

 

Table 1‑1 List of the robot models that are supported by the HRLoad.

HA006	HH100SL	HS180-ISO	HX200L
HA010L	HH130L	HS180-ST	HX200L-2000
HA020	HS150L	HS200	HX300
HH030L	HS165	HS200S	HX300L
HH050	HS165D	HS220-ISO	HX400
	HS165S	HS220-ST	HX400S
			YS080