Omron Viper 650 - Center of Gravity Position of End-Effector; Moment of Inertia Around J4, J5, and J6

34 Viper 650/850 Robot with eMB-40/60R User's Guide 05173-060 M
3.10 Designing End-Effectors
Center of Gravity Position of End-Effector
Design an end-effector so that the center of gravity of the end-effector (including workpiece) is
within the range shown in the following figure.
Figure 3-8. Allowable Range of Center of Gravity of End-effector. Units are mm.
Moment of Inertia Around J4, J5, and J6
Design an end-effector so that its moments of inertia around J4, J5, and J6 (including mass of
workpiece) do not exceed the maximum allowable moments of inertia of the robot.
l
Maximum allowable moment of inertia around J4 and J5: 0.295 kgm
2
l
Maximum allowable moment of inertia around J6: 0.045 kgm
2
When calculating the moment of inertia around J4, J5, and J6 of the end-effector, use the for-
mulas given in the following table. See Robot Installation on page 21.
Table 3-6. Moment of Inertia Formulas
A
B
C
D
H
E
G
J
F
K