Table 3-4 Allowable Moment Of Inertia - Hyundai HX200L Maintenance Manual

Allowable Moment of Inertia

Table 3-4 Allowable Moment of Inertia

Robot Model
HX300/300L
HX400
HX200L/200L-2000
Loads must be kept below maximum conditions shown in [Fig. 3.8~Fig 3.10].
[Fig 3.8] and [Fig 3.10] show the possible range in which a point load can be
positioned, assuming the attached load is a particle. However, as the actual load(End
Effector) is not a particle, calculate and evaluate the moment of inertia on each axis.
The following exmple shows moment of inertia calculation assuming the attached
load is a particle.
[Example〕An attached load weight is 200Kg with the 【 HX300 】Model
Allowable position of the center of gravity from the center of R1 axis
① Allowable position of the center of gravity from the center of Axis R1
L ≤ (Allowable Torque) / (Load Weight)
R1
L = 687 N·m / (200Kg×9.8 m/s
R1
② Allowable position of the center of gravity from the allowable moment of
inertia
L ≤ (Allowable moment of inertia/ Load Weight)
R1
= (30 kg·m
From the above result, the maximum distance from the center of R1 axis becomes
0.35 m, being restricted by the allowable moment of inertia.
Allowable Load Torque
R2 Axis
B Axis Rotation
Rotation
150kg·m²(15.3kgf·m·s²)
120 kg·m²(12.2 kgf·m·s²)
117.6 kg·m²(12.0 kgf·m·s²)
2
) = 0.35 m
2 1/2
/ 200 kg ) = 0.387 m( > 0.35 m)
3-12
HX200/HX200L-2000/HX300/HX300L/HX400
30 kg·m²(3.1 kgf·m·s²)
50 kg·m²(5.1 kgf·m·s²)
1/2
R1 Axis Rotation
58.8 kg·m²(6.0
kgf·m·s²)