Adept s1300 Viper - Manual (Page 29)

Designing End-Effectors
Adept Viper s1300 Robot User’s Guide, Rev B 29
2.8 Designing End-Effectors
Design an end-effector such that it is in compliance with items described in this section.
Mass of End-Effector
Design the end-effector so that the total mass of the end-effector (including workpiece)
will be lighter than the maximum payload capacity of the robot. The total mass includes
the wiring, piping, etc.
Maximum total mass of end-effector (including workpiece) must be less than or equal to
maximum payload capacity (10 kg).
Center of Gravity Position of End-Effector
Design an end-effector so that the center of gravity position of the end-effector (including
workpiece) is within the range shown in
Figure 2-6 .
Figure 2-6. Allowable Range of Center of Gravity Position of End-effector
CAUTION: If the end-effector design precautions are not
observed, the clamped parts of the robot unit may become
loose, rattle or be out of position. In the worst case, the
mechanical parts of the robot and robot controller may
become damaged.
100 90
80
Center of rotation of J5
Center of rotation of J4 and J6
Allowable range of center of
gravity position
190