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C4 Manipulator 4. End Effectors
If the load exceeds the maximum payload, use the Arm #5 with a posture angle within the
range indicated in the following graph.
The graph shows the relation of the load weight and Arm #5 angle limit (A
vertical direction (direction of gravity). Note that the heavier the load on the Arm #6, the
smaller the angle limit becomes.
When the Manipulator operates vertically to the operating surface, the limit of the Arm #5
is equivalent to the limit of the operating angle (A
In addition, for the eccentric load, the angle limit is an angle of the line joining the center of
the load and the Arm #5 rotation axis with the vertical direction (B).
The eccentric quantity of the load should be within the allowable moment and inertia
moment of Arms #4, #5, and #6.
Relation of load weight and Arm #5 angle limit
Arm #5 rotation axis
Relation of Arm #5 angle and operating surface
44
Load on Arm #6 End
Arm #4
Vertical direction
Load on
Arm 6 end
Arm #5
Arm #6
1
A
: Arm #5 angle
from vertical direction
2
).
Operating surface
2
A
: Angle of operating
surface form plane
Arm #5
Plane
Arm #6
Angle limit for eccentric load
) measured in
1
Vertical direction
Arm #5 rotation axis
Gravity
Load on
Arm #6 end
B
C series Rev.2
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