Kuka KR AGILUS sixx, Руководство по сборке

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Issued: 28.03.2013 Version: MA KR AGILUS sixx V8 en (PDF)
KR AGILUS sixx
4.4 Mounting base data, KR 6 sixx
Loads acting on
the mounting
base
The specified forces and moments already include the maximum payload and
the inertia force (weight) of the robot.
Fig. 4-9: Loads acting on the foundation
Type of load Force/torque/mass
Normal operation Maximum load
F
v
= vertical force F
vmax
= 967 N F
vmax
= 1297 N
F
h
= horizontal force F
hmax
= 1223 N F
hmax
= 1362 N
M
k
= tilting moment M
kmax
= 788 Nm M
kmax
= 1152 Nm
M
r
= torque M
rmax
= 367 Nm M
rmax
= 880 Nm
Total mass for load
acting on the mounting
base
KR 6 R900 sixx: 58 kg
Robot KR 6 R900 sixx: 52 kg
Total load for
mounting base load
(suppl. load on arm +
rated payload)
KR 6 R900 sixx: 6 kg
The mounting base loads specified in the table are the
maximum loads that may occur. They must be referred
to when dimensioning the mounting bases and must be adhered to for safety
reasons.
The supplementary loads on the base frame and rotating column are not tak-
en into consideration in the calculation of the mounting base load. These sup-
plementary loads must be taken into consideration for F
v
.