Can the current AR4 handle a 2.7 kg workpiece for slow machine tending?
Hi everyone,
We are evaluating the current AR4 for a broaching machine tending application and would appreciate advice from Chris and anyone with experience using the robot with heavier payloads.
Our workpiece specifications are:
- Outer diameter: 82 mm
- Inner diameter: 72 mm
- Length: 285 mm
- Weight: 2.7 kg
- Approximate working area: 500 mm
We will also need a gripper, so the total payload at the robot flange will of course be higher than 2.7 kg. We intend to keep the gripper as light as reasonably possible.
Speed is not important for this application. The robot can move slowly and we can use low acceleration. Repeatability, reliability and long-term operation are much more important to us than cycle time.
Before we start modifying the design, we would like to understand what you would recommend for the current AR4 design.
In particular:
- Is this application realistic for the current AR4?
- What total payload would you consider reasonable for this type of slow operation?
- Which joints or components would become the limiting factors with a 2.7 kg workpiece plus gripper?
- Would you recommend any changes to the motors, gearboxes, belts, bearings, shafts or wrist assembly?
- Has anyone tested a similar payload repeatedly over a large number of cycles?
- Is there anything about the robot position or working envelope that we should consider when designing the cell?
We are seriously considering building the robot for this application, and we are also planning to purchase the STEP/SolidWorks CAD files so that we can review and, if necessary, modify the mechanical parts for our use case.
We are able to manufacture or modify mechanical parts if necessary, so we are also interested in any modifications that would make this application more reliable.
Thank you for any guidance or real-world experience.
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