Yamaha YK180X Gripping force of end effector, 3 Maximum acceleration during robot operation

CHAPTER 3 Installation

7-5 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 operation can be calculated from the acceleration applied to the end effector attachment. The maximum ac- celeration 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 AXYmax become larger by an amount equal to the offset versus the arm length. When the R-axis rotates during operation, this acceleration ARmax must be taken into account.

Table 3-3 Maximum acceleration during robot operation

Robot Model	Amax(m/sec2)	AXYmax(m/sec2)	Azmax(m/sec2)	ARmax(rad/sec2)
YK120X	20	8.4	23	267
YK150X	25	11	16	267
YK180X	50	16	16	767
YK220X	61	19	16	767

ARmax

Amax

AXYmax

Azmax

Fig. 3-26 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.

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