Bearing Load - Bosch Rexroth APAS assistant K1100-10i Installation Instructions Manual

4.1.3

Bearing load

The actual bearing load of the APAS assistant deviates from the bearing load
diagram for KR 10 R1100-2 in the documentation of KUKA Roboter GmbH.
The APAS assistant has an additional end effector as standard (rotary union).
This changes the bearing load center of gravity.
Determine bearing load center of gravity and bearing load
The max. bearing load without considering the rotary union with sensor skin
segment 5 (1.6 kg in total) is 10.92 kg.
A
5,7
Observe the following parameters of the end effector for the calculation of the
„
bearing load center of gravity.
For the calculation of the actual application-specific bearing load, use the
„
KUKA-specific program "KUKALoad" available for download at the website of
KUKA Roboter GmbH.
Coordinate the actual bearing load with the manufacturer prior to commissioning
„
the robot system.
Designation
End effector weight
Moment of inertia I
xx
Moment of inertia I
xy
Moment of inertia I
yy
Moment of inertia I
xz
Moment of inertia I
yz
Moment of inertia I
zz
3 842 565 050/2019-11 APAS assistant K1100-10i V01.00.00 - V01.00.99, Bosch Rexroth AG
Technical data
A
Center of gravity
Schwerpunkt
Value
0.79 kg
·
1407.295 kg mm²
·
0.558 kg mm²
·
1180.196 kg mm²
·
17.386 kg mm²
·
4.014 kg mm²
·
1424.264 kg mm²
25/68
5,7