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Critical Dimension of Load
Position of
Load's Center
of Gravity
When calculating the critical dimension of the load on the Arm #6 using the allowable
moment and inertia moment, the calculated value represents a distance from the Arm #5
rotation center, not the distance from the flange. Therefore, to get a value of the critical
dimension of the load on Arm #5, subtract 65 (mm) from the calculated distance as shown
in the example below.
Example: Calculate the critical dimension of the load on the Arm #5 (c) when a 2.5 kg load
C series Rev.2
Arm #6
Rotation
Center
Flange
is on the Arm #6 rotation center line (b = 0).
Allowable Moment of the Arm #5 (N·m) / Load (kg)
= Distance from the Arm #5 rotation center (m)
4.41 (N·m) / 9.8 / 2.5 (kg) = 0.18 → 0.18 (m) = 180 (mm)
c = Distance from the Arm #5 rotation center (mm) − 65 (mm)
c = 180 (mm) − 65 (mm) = 115 (mm)
C4 Manipulator 4. End Effectors
Arm #5
Rotation Center
Distance from the Arm #*
Rotation Center [mm]
[Unit: mm]
39
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