Epson N6 Series - Page 68

Setup & Operation 4. End Effectors
56 N6 Rev.2
The moment M (Nm) and inertia moment I (kgm
2
) when the volume of the load (end
effector + work piece) is small can be obtained by the following formula.
M (Nm) = m(kg)
× L (m) × g (m/s
2
)
I (kgm
2
) = m(kg) ×L
2
(m
2
)
m
: Weight of load (kg)
L
: Eccentric quantity of load (m)
g
: Gravitational acceleration (m/s
2
)
T
L
Joint Rotation Center
Design the end effector so that the moment M and the inertia moment I do not exceed the
allowable load.
The eccentric quantity of load L should satisfy the following:
Less than 260 mm from the Arm #5 rotation center (160 mm or less from the flange)
Less than 160 mm from the Arm #6 rotation center
Example: When the load is 3 kg and the center of gravity is 120 mm from the flange:
m=3.0kg, L=120+100=220mm=0.220m
The moment M and the inertia moment are below the allowable load as
follows:
Moment M : 3.0 kg × 0.220m × 9.8 m/s
2
=6.468Nm < 15.2Nm
Inertia moment I : 3.0 kg × (0.220 m)
2
= 0.1452 kgm
2
< 0.42 kgm
2
Arm #6 Rotation Center
Load’s Center of Gravity
Flange
Arm #5 Rotation Center
[Unit: mm]