Gripping Force Of End Effector - Yamaha YK-X Series User Manual

6-5

Gripping force of end effector

The gripping force of the end effector must have a sufficient extra margin of
strength versus the workpiece weight and reaction force applied to the workpiece
during robot operation. The reaction force applied to the workpiece during opera-
tion can be calculated from the acceleration applied to the end effector attach-
ment. The maximum acceleration on the end effector attachment of each robot
model is listed in the table below. When the workpiece position is offset to the
end effector attachment, the accelerations Amax and A
an amount equal to the offset versus the arm length. When the R-axis rotates
during operation, this acceleration A
Fig. 3-28 Maximum acceleration on end effector attachment
WARNING
The gripping force of the end effector must have a sufficient extra margin of
strength to prevent the workpiece from coming loose and flying off during robot
operation. If the gripping force is too weak, the workpiece may come loose and
fly off causing accidents or injuries.
Table 3-4 Maximum acceleration during robot operation
Robot Model Amax(m/sec
YK500XG 98
YK600XG 104
YK600XGH 78
YK700XG 96
YK800XG 101
YK900XG 95
YK1000XG 95
Amax
(centrifugal acceleration)
Azmax
max must be taken into account.
R
2 ) A max(m/sec 2 ) Azmax(m/sec
XY
48
41
60
60
51
51
51
A max
R
A max (Tangential acceleration)
XY
3-29
CHAPTER 3 Installation
max become larger by
XY
2 ) A max(rad/sec 2 )
R
57 280
57 280
38 176
38 176
38 176
38 176
38 176