Determination of the Maximum Force a Robot Can Exert During Manufacturing Operations

The maximum force and torque, the end-effector of a robot can exert during a static or quasi-static manufacturing operation, are determined. The calculation is based on considering joint actuator capacity limits and the allowable maximum linear and angular deflections of the manipulator. Both joint actuator loading and robot deflections arc calculated raking into consideration both gravitational forces and inertia loadings. The maximum end-effector force and torque determination. considering deflection constraints, requires an iterative calculation. The method developed in this paper can be used to determine the optimal location of work-pieces and tasks relative to the robot to permit the most effective use of the manipulator for manufacturing operations.