CAD2D3D

1 KR 600 R2830 机器人本体示意图

2 KR 600 R2830 机器人结构组成

3 技术参数

轴数据

4 工作范围

5 负载能力

6 连接法兰

7 地基基础

8 末端法兰负载能力

Due to the motion of the payload (e.g. tool) mounted on the robot, forces and torques act on the mounting flange. These forces and torques depend on the motion profile as well as the mass, load center of gravity and mass moment of inertia of the payload.

The specified values refer to nominal payloads at the nominal distance and do not include safety factors. It is imperative for the load data to be entered in the robot controller. The robot controller takes the payload into consideration during path planning. A reduced payload does not necessarily result in lower forces and torques.

The values are guide values determined by means of trial and simulation and refer to the most heavily loaded machine in the robot family. The actual forces and torques may differ due to internal and external influences on the mounting flange or a different point of application. It is therefore advisable to determine the exact forces and torques where necessary on site under the real conditions of the actual robot application.

The operating values may occur permanently in the normal motion profile. It is advisable to rate the tool for its fatigue strength.

The EMERGENCY STOP values may arise in the event of an Emergency Stop situation of the robot. As these should only occur very rarely during the service life of the robot, a static strength verification is usually sufficient.

9 精度数据

1）位置精度

位置精度表示编程的机器人位置和实际占用的机器人位置之间的偏差，并用坐标测量机（CMM）在 9 个位置测量。重复精度由重复 30 次测量时实际占用的机器人位置的偏差得出。对于定位精确的机器人，这些值针对的是机器人基座。

2）轨迹精度

线性运动的轨迹精度：

该数据针对的是 1 m/s 的参考速度。

圆周运动的轨迹精度：

该数据针对的是 0.5 m/s 的参考速度。

轨迹精度表示机器人在编程的轨迹上运动的能力。

轨迹重复精度表示 10 个运行轨迹与运行轨迹平均值的偏差。

3）超调状态

• 超调振幅影响机器人在特定位置执行受控的精确暂停的能力。
• 定位时间表示机器人在特定位置上停止的速度。
• 给出的数据基于 ISO 9283，并使用 Krypton/Metris 的基于摄像机的系统测得。因此重复精度被定义为 3 sigma 值。
• 这些数值仅适用于定位精确的机器人选项、且不使用运动模式的新型机器人。
• 所有数值均以额定负载测得。

完整版 KUKA机器人 KR 600 R2830 技术规格书（PDF格式）请参见下方的 下载地址