Forces generated by the robot during e-stop

Sebastien 2017-03-08

Hi pros,
in all other robot brands than UR, usually you can find forces generated during normal operation and during e-stop in all directions. This helps us design correct suctures that are strong enough to support these. Do you know where I can find these for UR robots?

David_Gariepy 2017-03-10

I couldn't directly find this information but this might be helpful : https://www.universal-robots.com/how-tos-and-faqs/faq/ur-faq/cb3-stop-performance-17740/

matthewd92 2017-03-10

Here is some information on how much torque each joint is capable of, not sure if this is what you are looking for either but at least can give you an idea of how much torque the base joint is capable of putting into the stand.

Sebastien 2017-03-15

@matthewd92
We are looking at a project where we need UR10 on a rail system. Rail companies are asking us about forces generated by the robot on the tracks. Do you have tips for this?

matthewd92 2017-03-15

YOu could calculate the momentums if you know what you velocity is going to be for starting and stopping obviously. I know RTDE broadcasts momentums, probably in one of the modbus registers as well. I will try to look when I don't have my head under a robot later today. Using that you could run your program and see what types of momentum you are seeing at the base. There is also a script function for returning the joint torques.

JacobBom 2017-07-20

@Sebastien
Please pay attention to section "4.3 Mounting" in the Hardware Installation Manual of the UR User Manual.
This section sets up a number of demands to the robot mounting, in terms of strength and vibrations, as well as tightening torque for mounting bolts.