3. Instructions
Allowable position of the center of gravity from the center of Axis B
(The center of B axis is on the same axis of this robot, and the value of the allowable load torque and allowable moment of inertia of B and R2 axes are the same. Therefore, if the allowable condition on the B axis is satisfied, it guarantees to satisfy that on the R2 axis..)
①Allowable position of the center of gravity from the allowable torque
LB ≤ (Allowable Torque) / (Load Weight)
LB = 1668 N·m / (200Kg×9.8 m/s2) = 0.851 m
②Allowable position of the center of gravity from the allowable moment of
inertia
LB ≤ (Allowable moment of inertia / Load Weight)1/2 = (150 kg·m2 / 200 kg )1/2 = 0.866 m( > 0.851 m)
From above result, the maximum distance from the center of B axis becomes 0.851m, being restricted by the allowable moment of inertia.