Appendix M: Comparison Of Plastic And Foam Covers; Impact Force - Brooks PreciseFlex DD 6-Axis Service Manual

Appendices
Appendix M: Comparison of Plastic and
Foam Covers

Appendix M: Comparison of Plastic and Foam Covers

Impact Force

Brooks updated the PreciseFlex Direct Drive covers from foam to plastic and conducted
comparison impact tests. Here are the test results, which will help users design applications to avoid
collisions against a rigid surface that might injure a person.
NOTE: Collisions in free space are not a problem as an operator's hand or forearm
can bounce off the covers and the forces are within limits up to 100% speeds.
If the robot satisfies the conditions indicated in the green cells of the "J1 Comparison Table,
Measured Force, 1 kg Payload" and "J3 Comparison Table, Measured Force, 1 kg Payload" tables
below, it is setup is within the force limits defined by
Test results vary for different points of contact. The point of contact in these tests is close to the edge of
l
the plastic cover. Higher forces were recorded when the impact was closer to the edge of the cover where
the plastic is more rigid and there is less deflection
1 kg payload (contact force in N).
l
Impact distance 1.5 deg. (approximately 15 mm @ 550 mm) (J3 @90 deg)
l
Speed Speed Speed
(%) (deg/s) (mm/s)
10% 12 115
20% 24 230
30% 36 345
40% 48 461
50% 60 576
60% 72 691
70% 84 806
89
J1 Comparison Table, Measured Force, 1 kg Payload
15
Plastic
Foam
covers
covers
(edge)
70 82
80 105
95 121
132 144
150 149
130 160
150 165
PreciseFlex™ Direct Drive Robots - Service Manual
Part Number: 628651 Rev. A
ISO/TS 15066.
Deceleration
20 25
Plastic
Foam Foam
covers
covers covers
(edge)
70 92 77
83 112 92
113 136 135
140 158 140
260 177 240
159 186 200
300 218 310
Copyright © 2024, Brooks Automation
Plastic
covers
(edge)
96
129
151
168
183
192
225