7 Installation, connection, exchange (continued)
73 of 206
BA KR 6, 16 F, KR C4 12.10.07 en
7.3 Principal loads
Forces occur during operation which must be safely transmitted to the floor, wall or ceiling.
The forces that have to be taken into account are specified in Fig. 47 for floor-- and ceiling--
mounted manipulators and in Fig. 48 for wall--mounted manipulators. The data given in the
illustrations can also be used as a basis for more extensive static investigations.
The specified forces and moments already include the payload and the inertia force (weight)
of the manipulator.
F
h
F
v
M
k
M
r
F
v
F
v
= Vertical force F
vmax
= 4,600 N
F
h
= Horizontal force F
hmax
= 5,000 N
M
k
= Tilting moment M
kmax
= 5,200 Nm
M
r
= Turning moment about axis 1 M
rmax
= 4,200 Nm
Total mass = manipulator + total load for type
235 kg + 36 kg KR 6
235 kg + 46 kg KR 16
240kg + 36kg KR16L6
Fig. 47 Principal loads acting on the mounting base due to manipulator and total load for
floor-- and ceiling-- mounted manipulators
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