Understanding allowable torque and moment of inertia
- The payload of the robot (Payload: model below - 165Kg) is sufficient for the robot to carry and work. It refers to the weight.
- Even if the payload is 165Kg, the farther the center of gravity is from the reference point, the more torque there is. As it gets bigger, the allowable payload becomes smaller . (See picture below)
- Based on the center of gravity Even if the torque value is the same, the moment of inertia varies depending on the speed. It gets bigger.
- In other words, even if the tool or workpiece is light if the center of gravity is far from the reference point, The allowable payload decreases drastically.
- If the moment of inertia or torque exceeds, the distance from the possible reference point is determined. It is better to reduce it.
- The allowable payload of the robot is proportional to the tool weight and the square of the distance. It is inversely proportional.
Excess Use Cases
Applicable robot: HS165 (carrying weight 165Kg), tool (145Kg)
It seems that there will be no problem by installing a tool that is less than the payload, but the tool The distance between the center and the reference point appears far.
(Robot: HS165, tool weight: 145Kg)
Find the distance and inertia of the tool's center of mass.
- Use robot load estimation software
- Use of 3D modeling data from tools
The result of applying the load calculation is as follows.
- Weight: Outside the range of use.
- Torque: 4,5 axes not available
- Inertia: Not available for 4th and 5th axes
How to improve when overload
- If the load is exceeded, reduce the tool weight or **reduce the load to the center of gravity of the tool. There is a way** to reduce the distance.
- A method of reducing the distance is more effective. There are two ways as follows: When improving by method , if only the weight is reduced, the excess inertia will not be improved. No.
- Load calculation uses our load analysis program HRLoad. (HRLoad download)