Yamaha YK120X User Manual
3-32
CHAPTER 3 Installation
7-5
Gripping force of end effector
The gripping force of the end effector must have a sufficient extra margin of
strength versus the workpiece weight and reaction force applied to the workpiece
during robot operation.
The reaction force applied to the workpiece during operation can be calculated
from the acceleration applied to the end effector attachment. The maximum ac-
celeration on the end effector attachment of each robot model is listed in the table
below. When the workpiece position is offset to the end effector attachment, the
accelerations Amax and A
strength versus the workpiece weight and reaction force applied to the workpiece
during robot operation.
The reaction force applied to the workpiece during operation can be calculated
from the acceleration applied to the end effector attachment. The maximum ac-
celeration on the end effector attachment of each robot model is listed in the table
below. When the workpiece position is offset to the end effector attachment, the
accelerations Amax and A
XY
max become larger by an amount equal to the offset
versus the arm length. When the R-axis rotates during operation, this acceleration
A
A
R
max must be taken into account.
Table 3-3 Maximum acceleration during robot operation
Robot Model
YK120X
YK150X
Amax(m/sec
2
) A
XY
max(m/sec
2
) Azmax(m/sec
2
) A
R
max(rad/sec
2
)
20
8.4
23
267
25
11
16
267
YK180X
50
16
16
767
YK220X
61
19
16
767
A
R
max
Amax
Azmax
A
XY
max
Fig. 3-26 Maximum acceleration on end effector attachment
WARNING
The gripping force of the end effector must have a sufficient extra margin of
strength to prevent the workpiece from coming loose and flying off during robot
operation.
If the gripping force is too weak, the workpiece may come loose and fly off
causing accidents or injuries.
strength to prevent the workpiece from coming loose and flying off during robot
operation.
If the gripping force is too weak, the workpiece may come loose and fly off
causing accidents or injuries.