Using This Manual - Mitsubishi Electric 4F-FS001-W200 Instruction Manual

1 Using This Manual

If tool shape is like
figure, force sensor
receives moment by
tool own weight or
pushing workpiece.
Moment around force sensor coordinate origin (Nm)：
Ｍ = Ｗ ×Ｌ ×ｇ＋Ｗ
1 1
1-4 Select the Force Sensor
Tool W (kg)
1
Center of gravity of the hand
Center of gravity of the Workpiece
(m)
Ｌ
1
(m)
Ｌ
3
Reactive force
(m)
Ｆ(N)
Ｌ
2
×Ｌ ×ｇ － F×L
2 2 3
Fig. 1-2: Moment by the tool shape and a posture change
Center of gravity
of the hand
Tool W (kg)
1
Workpiece W (kg)
2
Moment around force sensor coordinate origin (Nm)：
Ｍ = Ｗ ×sinθ×Ｌ
1
*g：gravity acceleration (m/sec
When robot changes
posture, force sensor is
received moment by tool
own weight.
(m)
(m) Ｌ
2
Ｌ
1
Workpiece
W
θ
Center of
θ
gravity of the
Workpiece
×ｇ＋Ｗ ×sinθ×Ｌ ×ｇ
1 2 2
(kg)
2
2 )