Wrist Camera - Instruction Manual
Info
The photographic sensor, in line with Universal Robots axes system, is located at [0mm, 35.7mm, 0.1mm] of the tool flange
on which the Wrist Camerais mounted. The line of sight passes through this point at 30° from the Z-axis.
5.1.1. Center of Mass and Moment of Inertia
The coordinate system used to calculate the moment of inertia and center of mass of the Wrist Camera is the base of the Wrist
Camera, which correspond to the Universal Robots tool flange reference [0,0,0].
Here is the approximate position for the Center of mass. It has been calculated for the Wrist Cameraitself and for combinations with
other Robotiq products. The tool plate is included when no gripper is mounted on the Wrist Camera.
Combination
x (mm)
y (mm)
z (mm)
Mass (grams)
-
0
5
9
230
FT 300
0
2
30
530
2-Finger 85
0
1
58
975
2-Finger 140
0
1
66
1040
FT 300 and 2-Finger 85
(CB-Series models)
0
1
77
1275
FT 300 and 2-Finger 140
(CB-Series models)
0
1
85
1340
Table 5-2: Tool center point coordinates and payloads for some combinations of Robotiq harware with the Wrist Camera.
