Tool Mounting

The automatic screwdriver or nut runner should be mounted to the tool output flange of the robot in such way that:

• The lever arm is maximized, thus the force required from the robot is minimized in order to maintain its position during the process

• The possible deviations for a single joint are minimized, avoiding for example that the tightening axis is aligned, parallel or close to parallel with the wrist 3 of the robot.