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One lacking aspect in the specification of a robot is in its load carrying capacity. Often, only a single value of load carrying capacity at a particular configuration is identified. A new approach can be constructed to enhance specifications of robot performance. Based on geometrical configuration and actuators characteristics, the maximum and minimum load carrying capacities of the end effector at any point in space are computed. Using inverse kinematic equations, respective configurations corresponding to various points can be calculated to plot contours of constant load carrying capacities. Reaction forces at every joint conforming to a specific load at the end effector can be computed and used for reliability analysis.