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C4 Manipulator 4. End Effectors
Calculate the Weight parameter by using the formula below and enter the value.
Weight Parameter Formula
<Example> The fore end of the Arm #6 is 315 mm (L) away from the Joint #3.
42
Weight parameter = M
w
M
: Load on the fore end of Arm #6 (kg)
w
W
: Equivalent weight of the Arm #3 deck (kg)
a
W
: Equivalent weight of the Arm #5 deck (kg)
b
W
= M
(L
)²/ (L)²
a
a
a
W
= M
(L
)²/ (L)²
b
b
b
M
: Weight of the air valve on the Arm #3 deck
a
M
: Weight of the camera on the Arm #5 deck
b
L
: Length of the upper arm (315 mm)
L
: Distance between the Joint #3 and the center of gravity of
a
the air valve on the Arm #3 deck (mm)
L
: Distance between the Joint #3 and the center of gravity
b
of the camera on the Arm #5deck (mm)
Load on the fore-end of Arm #6 is 1 kg (M
Load on the Arm #3 deck is 1.5 kg (M
The deck is 0 mm (L
Load on the Arm #5 deck is 0.5 kg (M
The deck is 280 mm (L
W
=1.5 × 0
/315
2
a
W
=0.5 × 280
b
M
+ W
+ W
w
a
b
Enter "1.4" for the Weight parameter.
+ W
+ W
a
b
) away from Joint #3.
a
) away from the Joint #3.
b
=0
2
/315
=0.395 → 0.4(round up)
2
2
=1 + 0 + 0.4=1.4
).
w
).
a
).
b
C series Rev.2
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