Hi There,
Parallelogram mechanism on this robot how it works?
I mean....
Why fanuc use this kind of mechanism on M900ib/400L
Regards!
Hi There,
Parallelogram mechanism on this robot how it works?
I mean....
Why fanuc use this kind of mechanism on M900ib/400L
Regards!
I would say it is used more of a counterweight for the robot arm itself. Otherwise J3 servo(s) would be under heavy constant load even without external payload.0
Tlaloc
Parallelogram mechanisms were common in early robot resigns
In low payload robots a 4 bar linkage mechanisms was used without counter weight
For heavy payload robots the mechanism includes a counter-weight to aid the servo
This mechanism was used by NACHI, then most robot manufacturers adopted it.
In most modern designs the upper arm driving servo is mounted directly at the pivot point (off course with an interface reducer)
Joint 3 pivots point is at the end of Joint 2, by using a 4 bar linkage mechanism the motion from the servo is transmitted to the upper arm (it moves the same amount)
Mounting the motor remotely reduces the load for the driving servo
The counter weight aids the servo with the upper arm load
In palletizing robots a second mechanisms is used connected to the fist one
This is because most pick and place applications are done vertically
The motion of the driving servo is transmitted too the wrist, keeping it vertical all the time
This mechanisms requires only 4 servos