3 Product description (continued)
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BA KR 6, 16 F, KR C4 12.10.07 en
3.3 Arm
For this robot model, the following arm variants (Fig. 3) are employed:
G Arm for in--line wrist with arm extension (1)
G Arm for in--line wrist, standard variant (3)
G Arm for in--line wrist with “F” variant wrist (3)
All arm variants are essentially the same in structure and function. The arm for the F variant
is pressurized and features a pressure regulator unit for controlling the internal pressure in
the arm. The wrist axis motor units are additionally sealed with individual seals at the inter-
face with the arm.
The arm for the robot variant KR 16 L6 is extended by means of the arm extension (2). It is
fitted between the wrist and the arm housing and screwed to the arm housing. The drive
shafts are one--piece units and run from the wrist axis motor units to the in--line wrist.
KR 16 L6
KR 6, KR 16
1
2
3
Fig. 3 Arm variants
The arm assembly (Fig. 4/2) embodies the driven element of axis 3 of the manipulator . The
arm is flange--mounted to the side of the link arm (7) through a gear unit with integrated bear-
ings and is driven by main axis motor unit A3 (6). The rotational axis (3) of the arm has been
so selected that with the rated payload there is no need for an additional counterweight to
balance the masses on the arm.
The effective software swivel range extends for this manipulator from +154° to --130°,re-
ferred to the electrical zero position of axis 3, which is given when the longitudinal axes of
the arm and link arm run parallel. The swivel range is limited by mechanical limit stops with
a buffer function in addition to the software limit switches.
Attached to the rear of the arm housing (8) are the motor units for wrist axes 4 to 6.
The arm housing consists -- as do the housings of the link arm and rotating column -- of a
light alloy construction optimized by means of CAD and FEM.
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