Universal Robots UR30 - Dimensioning the Stand

6.2. Dimensioning the Stand
Description The structure (stand) on which the robot arm is mounted is a crucial part of the robot
installation. The stand must be sturdy and free of any vibrations from external sources.
Each robot joint produces a torque that moves and stops the robot arm. During normal
uninterrupted operation and during stopping motion, the joint torques are transferred to the
robot stand as:
•
Mz:Torque around the base z axis.
•
Fz:Forces along base z axis.
•
Mxy:Tilting torque in any direction of the base xy plane.
•
Fxy:Force in any direction in the base xy plane.
Force and moment at base flange definition.
UR30 41 User Manual
6.Assembly and Mounting
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