Denso RC5 Specifications download pdf (Page 40)

3.6 Engineering-design Notes for Robot Hands (HS/HSS-G)

Design a hand (end-effector) so that it will satisfy conditions (1) and (2) described

below.

Caution: Strictly observe these engineering-design notes. Otherwise, the

clamped sections of the robot unit will become loose, rattle or be out of position. In the

worst case, the mechanical parts of the robot unit and the robot controller may be

damaged.

(1) Mass of hand

The total mass of a hand or tool (including work-piece) should be less than the

maximum allowable payload of the robot. Be sure to include the mass of wirings and

piping used for a hand or tool.

Total mass of hand or tool (incl. Work-piece) ≤ Max. allowable payload

NOTE: The maximum allowable payload refers to a mass of payload that you have

preset.

(2) Hand center of gravity

The center of gravity of a hand or tool (including work-piece) should be located within

the range specified in Figure below.

Unit: mm

Hand center of gravity (HS/HSS-G)

1 2 ... 35 36 37 38 39 40 41 42 43 44 45 ... 55 56

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Denso RC5 Specifications Page 40