Robot Arm
Let's mount the robot arm and tool.
Robot Mounting
All robots can be mounted in every direction while maintaining full motion performance. The only thing that needs to be done, is to define the mounting angle, to let the robot controller know the direction of gravity. The robot is mounted with 4 to 6 bolts, securing the base flange to the mounting surface.
The robot can also be mounted on a moveable platform, like a slide/lift or a mobile robot. In these cases, it can be beneficial to inject the base acceleration to the robot control system, to avoid protective stops
Tool Mounting
When mounting a tool on a robot, it's done using the mechanical interface at the tool flange. Using between 4 and 6 bolts, you can mount ready-to-use products or create your own grippers and end effectors. To achieve the best accuracy, it's recommended to use an alignment pin when fastening the tool.
Specifications
The robot arm generally has 2 mechanical points of interest. The base flange and the tool flange. The base flange is used to mount the robot arm to a fixed surface. The robot can be mounted in any orientation. The tool flange is for mounting end effectors. See below tables and figures for bolt sizes and flange dimensions.
UR3e
Mechanical Specifications | Bolt Size | Number of bolts | Recommended Tightening Torque |
|---|---|---|---|
Base flange | M6 | 4 | 20 Nm |
Tool flange | M6 | 4 | 8 Nm |
