3-24
CHAPTER 3 Installation
2) Moment of inertia of the chuck
When the chuck form resem-
bles that shown in Fig. 3-23,
the weight of the chuck (Wc)
is
Wc = 0.0078
×
2
×
4
×
6
= 0.37 (kgf)
The moment of inertia of the
chuck (Jc) is then calculated
from Eq. 3-7.
Jc =
0.37
×
(2
2
+4
2
)
12
×
980
0.37
×
10
2
+
980
= 0.038 (kgfcmsec
2
)
Fig. 3-23
10cm
2cm
6cm
4cm
R-axis
3) Moment of inertia of workpiece
When the workpiece form
resembles that shown in Fig.
3-24, the weight of the
workpiece (Ww) is
Ww =
ρπ
D
2
h
=
0.0078
π
×
2
2
×
4
4
4
= 0.098 (kgf)
The moment of inertia of the
workpiece (Jw) is then calcu-
lated from Eq. 3-5.
Jw=
0.097
×
2
2
+
0.097
×
10
2
8
×
980 980
= 0.010 (kgfcmsec
2
)
Fig. 3-24
10cm
4cm
R-axis
2cm
4) Total weight
The total weight (W) is calculated as follows:
W = Ws + Wc + Ww = 0.84 (kgf)
5) Total moment of inertia
The total moment of inertia (J) is then obtained as follows:
J = Js + Jc + Jw = 0.062 (kgfcmsec
2
)
Содержание YK-X Series
Страница 1: ...User s Manual ENGLISH E YAMAHA SCARA ROBOT E35 Ver 1 08 YK XG YK X series ...
Страница 2: ......
Страница 6: ...MEMO ...
Страница 10: ...MEMO ...
Страница 12: ...MEMO ...
Страница 29: ...CHAPTER 2 Functions 1 Robot Manipulator 2 1 2 Robot Controller 2 3 3 Robot initialization number list 2 4 ...
Страница 30: ...MEMO ...
Страница 36: ...MEMO ...
Страница 46: ...3 10 CHAPTER 3 Installation Ground symbol M4 Ground terminal Fig 3 6 Ground terminal ...
Страница 64: ...3 28 CHAPTER 3 Installation Hole diameter Bolt Slot Spline shaft End effector or stay Fig 3 27 ...
Страница 78: ...3 42 MEMO ...
Страница 80: ...MEMO ...
Страница 91: ...4 11 CHAPTER 4 Adjustment X axis origin sensor stay X axis origin sensor Bolt Cover q w Fig 4 3 b ...
Страница 101: ...4 21 CHAPTER 4 Adjustment Cover Elongated hole Y axis origin sensor stay Bolt Fig 4 8 a ...
Страница 102: ...4 22 CHAPTER 4 Adjustment Dog Hex nut Fig 4 8 b Bolt Y axis arm X axis arm Fig 4 8 c ...
Страница 106: ...4 26 CHAPTER 4 Adjustment R axis origin dog Bolt R axis origin sensor stay R axis origin sensor q w Cover Fig 4 9 ...
Страница 119: ...4 39 CHAPTER 4 Adjustment R End effector End effector Z Y X Fig 4 18 ...
Страница 120: ...4 40 MEMO ...
Страница 122: ...MEMO ...
Страница 138: ...5 16 CHAPTER 5 Periodic Inspection M6 16 M5 16 X axis motor Base Fig 5 3 ...
Страница 146: ...5 24 CHAPTER 5 Periodic Inspection M3 16 M4 18 X axis arm Fig 5 10 ...
Страница 155: ...5 33 CHAPTER 5 Periodic Inspection O ring r M5 14 M6 16 R axis motor Fig 5 17 ...
Страница 156: ...5 34 CHAPTER 5 Periodic Inspection M3 14 M3 16 O ring w Fig 5 18 ...
Страница 161: ...CHAPTER 6 Increasing the robot operating speed 1 Increasing the robot operating speed 6 1 ...
Страница 162: ...MEMO ...
Страница 168: ...6 6 MEMO ...
Страница 170: ...MEMO ...
Страница 177: ...MEMO ...