Adept s650 Viper - Manual (Page 30)

Chapter 2: Robot Installation
Adept Viper s650/s850 Robot with MB-60R/eMB-60R User’s Guide, Rev F
Page 30 of 100
Center of Gravity Position of End-Effector
Design an end-effector so that the center of gravity of the end-effector (including workpiece) is
within the range shown in the following figure.
Figure 2-9. Allowable Range of Center of Gravity of End-effector
Moment of Inertia Around J4, J5, and J6
Design an end-effector so that its moments of inertia around J4, J5, and J6 (including mass of
workpiece) do not exceed the maximum allowable moments of inertia of the robot.
l Maximum allowable moment of inertia around J4 and J5: 0.295 kgm
2
l Maximum allowable moment of inertia around J6: 0.045 kgm
2
When calculating the moment of inertia around J4, J5, and J6 of the end-effector, use the for-
mulas given in the following table. See Moment of Inertia Calculation Examples on page 32.