Rethink Robotics Sawyer, Original Instructions Manual, Page: 171 / 220

164
Intera 5.3
Performance with Advanced End-effectors
If one of the three conditions stated at the beginning of the previous section is true, the user should
refer to a separate set of payload vs. acceleration plots for end-effector design. It is unnecessary to
use the following charts when the reach is less than 1 m, the payload is under 2 kg and the offset
from the J6 axis is less than 10 cm.
First, let’s define the on-axis and off-axis distances with respect to Sawyer’s cuff according to Fig-
ure D-5.
Figure D-5: Illustration of on-axis and off-axis payload positions. The payload includes the end-
effector and object weight and is represented as a point mass at its center of mass.
The recommended combinations of payload, center-of-mass position and joint acceleration setting
are shown in Figures D-6 and D-7.
Similar to Figure D-4, the regions with different colors are not mutually exclusive. For example,
when acceleration setting is set to
fast
, the valid workspace covers the dark blue region and the yel-
low region.
Unlike Figure 4, the
x
-axis in Figure D-6 and D-7 represents payload, and the
y
-axis represents the
offset payload position (not
reach
).