B-10
183574-1CD
183574-1CD
Appendix B
B.1 Glossary
ArcWorld 50/50S/52/52S
Gantry Robot
A robot which has three degrees of freedom along the X, Y and Z
coordinate system. Usually consists of a spooling system (used as a
crane), which when reeled or unreeled provides the up and down motion
along the Z axis. The spool can slide from left to right along a shaft which
provides movement along the Z axis. The spool and shaft can move
forward and back along tracks which provide movement along the Y axis.
Usually used to position its end effector over a desired object and pick it
up.
Gravity Loading
The force exerted downward, due to the weight of the robot arm and/or the
load at the end of the arm. The force creates an error with respect to
position accuracy of the end effector. A compensating force can be
computed and applied bringing the arm back to the desired position.
Gripper
An end effector that is designed for seizing and holding (ISO 8373) and
“grips” or grabs an object. It is attached to the last link of the arm. It may
hold an object using several different methods, such as: applying pressure
between its “fingers”, or may use magnetization or vacuum to hold the
H
Hand
A clamp or gripper used as an end-effector to grasp objects. See
, and
.
Hand Guiding
Collaborative feature that allows an operator to hand guide the robot to a
desired position. This task can be achieved by utilizing additional external
hardware mounted directly to the robot or by a robot specifically designed
to support this feature. Both solutions will require elements of functional
safety to be utilized. A risk assessment shall be used to determine if any
additional safeguarding is necessary to mitigate risks within the robot
system.
Harmonic Drive
Compact lightweight speed reducer that converts high speed low torque to
low speed high torque. Usually found on the minor (smaller) axis.
Harness
Usually several wires, bundled together to deliver power and/or signal
communications to/from devices. For example, the robot motors are
connected to the Controller through a wire harness.
Hazardous Motion
Unintended/unexpected robot motion that may cause injury.
Hold
A stopping of all movements of a robot during its sequence, in which some
power is maintained on the robot. For example, program execution stops,
however power to the servo motors remain on, if restarting is desired.
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