Universal Robots PolyScope X UR16e User Manual page 41

Part I Hardware Installation Manual
Dimensioning the
stand
User Manual
The structure (stand) on which the robot arm is mounted is a crucial part of the robot
installation. The stand must be sturdy and free of any vibrations from external sources.
Each robot joint produces a torque that moves and stops the robot arm. During normal
uninterrupted operation and during stopping motion, the joint torques are transferred to
the robot stand as:
•
M : Torque around the base z axis.
z
•
F : Forces along base z axis.
z
•
M : Tilting torque in any direction of the base xy plane.
xy
•
F : Force in any direction in the base xy plane.
xy
Force and moment at base flange definition.
41 UR16e PolyScope X