3.6.1. Permitted load torque estimation

The load, which will be applied to the mechanical interface of robot's wrist axis, is restricted by allowable weight, allowable load torque and allowable moment of inertia.

n Step 1

Calculate the position of the center of gravity at the center of rotation of the B axis (LX, LY and LZ).

Lx:Position of the center of gravity in the direction of X axis

Ly:Position of the center of gravity in the direction of Y axis

Lz: Position of the center of gravity in the direction of Z axis

n Step 2

Calculate the distance from B axis and R1 axis to the center of gravity.

LB: Distance from the center of rotation of B axis to the center of gravity.

LR1: Distance from the center of rotation of R1 axis to the center of gravity

n Step 3

Calculate the load torque from the calculated distance.

: Load torque at the center of rotation of B axis

: Load torque at the center of rotation of R1 axis

: Mass of load

: Gravitational acceleration

n Step 4

Check if the load torque calculated in Step 3 is below the limit value, based on the table of allowable load torques.

Figure 3.8 Troque diagram of the wrist axis

Allowable Load Torque

Table 3‑1 Allowable Load Torque

Payload	Allowable Load Torque
	R2 Axis Rotation	B Axis Rotation	R1 Axis Rotation
210 kg	Less than 1,334 N·m (136 kgf·m)		Less than 706 N·m (72 kgf·m)

3.6.1. Permitted load torque estimation​

3.6.1. Permitted load torque estimation