Kuka KR 20-3, Спецификация

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19 / 81 Issued: 22.04.2016 Version: Spez KR 20-3 V2
4 Technical data
4.2.4 Loads acting on the foundation, KR 20-3
Loads acting on
the foundation
The specified forces and moments already include the payload and the inertia
force (weight) of the robot.
Vertical force F(v)
F(v normal)
3400 N
F(v max) 4600 N
Horizontal force F(h)
F(h normal)
1650 N
F(h max) 5000 N
Tilting moment M(k)
M(k normal)
3250 Nm
M(k max) 5200 Nm
Torque about axis 1 M(r)
M(r normal)
2550 Nm
M(r max) 4200 Nm
Fig. 4-7: Loads acting on the foundation, floor
Normal loads and maximum loads for the foundations
are specified in the table.
The maximum loads must be referred to when dimensioning the foundations
and must be adhered to for safety reasons. Failure to observe this can result
in personal injury and damage to property.
The normal loads are average expected foundation loads. The actual loads
are dependent on the program and on the robot loads and may therefore be
greater or less than the normal loads.
The supplementary loads (A1 and A2) are not taken into consideration in the
calculation of the mounting base load. These supplementary loads must be
taken into consideration for F
v
.