Of our tool I know the mass and the center of gravity, but I don't know the moments of inertia around XYZ.
If I fill in only mass and center of gravity and no intertia's, how will reflect that in robot performance?
I must say, in the application, the tool is not rotated very much, only 45° around Z-axis during a long lineair movement.
Payload : moment of inertia
-
Plc_User -
February 7, 2017 at 3:31 PM -
Thread is marked as Resolved.
-
-
To tell you the truth, I don't know how much it will affect and I bet 95% of the Fanuc guys will not know
My personal opinion: I'll go by what make sense, if my values are good, lets say you are picking 1 kg with a 5 kg tool with a 50 kg robot I will not bother with numberss Actually I wil just put 6 kg on the payload without doing any calculations
I'm working right now with a small Mate 200 and I put zeroes on the moment of inertia beause the values that I had were "overloading" the robotInterestingly, while writing the post, I decided to check my papers and I foun that I have to divide those numbers by 980 (gravity) and they get very close to zero
Question Do you have solidworks ? That will help you
-
Actually, I now received some data from a mechanical engineer :
Inertia output :
XX : 357809395.56024987
YY : 266070591.04116535
ZZ : 571170540.61911726
XY : 0.0005085398
XZ : 4579048.9964582324
YZ : -0.0000132465
Units should be g mm²
Even when I should convert them to the values Fanuc expects, the values seem extremely high for a 12 kg weighing gripper.
The gripper is symmetrically around the Z-axis.
The robot is M710-IC 50 kg. -
Tell them to give you a drawing like the attachment
Check the axis, usually we have to rotate them, Im talking about right and left hand rule -
Inertia values must be calculated about the center of mass.
Sent from my SM-G930V using Tapatalk
-
Tell them to give you a drawing like the attachment
Check the axis, usually we have to rotate them, Im talking about right and left hand ruleHallo Fabian,
From Your Drawing Above (Solidwork data), which data that you use as inertia for the robot?
Is it "Moment Inertia Taken at the center of mass and aligned with output coordinates system"
or "Moment inertia Taken at the output coordinate system" ? -
Inertia values must be calculated about the center of mass.
Sent from my SM-G930V using Tapatalk