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3. Instructions
3-13
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..)
① Allowable position of the center of gravity from the allowable torque
L
B
≤ (Allowable Torque) / (Load Weight)
L
B
= 1668 N·m / (200Kg×9.8 m/s
2
) = 0.851 m
② Allowable position of the center of gravity from the allowable moment of
inertia
L
B
≤ (Allowable moment of inertia / Load Weight)
1/2
= (150 kg·m
2
/ 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.