Engineering-Design Notes For Robot Hands (Hm/Hms-G Series) - Denso Faber HM-G Series General Information Manual

3.6 Engineering-design Notes for Robot Hands (HM/HMS-G
series)
Design a hand (end-effector) so that it will satisfy conditions (1) and (3) described
below.
Caution: Strictly observe these engineering-design notes. Otherwise, the clamped
sections of the robot unit will become loose, rattle or be out of position. In the worst
case, the mechanical parts of the robot unit and the robot controller may be damaged.
(1) Mass of hand
The total mass of a hand or tool (including workpiece) should be less than the
maximum allowable payload of the robot. Be sure to include the mass of wirings and
piping used for a hand or tool.
Total mass of hand or tool (incl. workpiece) ≤ Max. allowable payload
NOTE: The maximum allowable payload refers to a mass of payload that you have
preset.
(2) Hand center of gravity
The center of gravity of a hand or tool (including work-piece) should be located within
the range specified in Figure below.
HM/HMS-40***G(10kg payload)
HM/HMS-4A***G(20kg payload)
Hand center of gravity (HM/HMS-G)
38