2 Principal loads
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Ro/Me/03/23 03.99.02 en
2 Principal loads
Forces occur during operation of the robot which must be safely transmitted to the floor or
ceiling. The forces that have to be taken into account for floor-- and ceiling--mounted robots
are specified in Fig. 1. The drawings with their specifications can be used as a basis for more
extensive static investigations.
F
v
= vertical force F
vmax
= 28 000 N
F
h
= horizontal force F
hmax
= 15 000 N
M
k
= tilting moment M
kmax
= 50 000 Nm
M
r
= turning moment about axis 1 M
rmax
= 26 500 Nm
Total mass = robot + total load for type
1940 kg + 500 kg KR 350/2
1956 kg + 430 kg KR 350 L280/2
1965 kg + 390 kg KR 350 L240/2
F
h
F
v
M
r
M
k
Fig. 1 Principal loads acting on floor (or ceiling) due to robot and total load
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