Simple subtraction cannot be done using only the nominal payload of the robot and the weight of the rotating cup assembly. Whether the sixth axis is sufficient, the total mass of the tool, the position of the center of gravity, the allowable torque of J4/J5/J6, the allowable moment of inertia of rotation, the dynamic acceleration, the change in attitude and the pipeline dragging load must be checked at the same time. A hollow wrist or hollow arm can significantly reduce the risk of hanging external pipes, but “with a hollow shaft” does not mean that all paint tubes, tracheas, high-pressure lines and cleaning tubes can be fully built in. The hollow aperture, bending radius, torsional life, joint angle, sealing, anti-pollution, color change cleaning and maintenance accessibility must also be verified. Finally, it should be confirmed jointly by robot load calculation, offline simulation, physical prototype fat and spray room sat.
The English edition of this article is being prepared. Please refer to the Chinese version linked above, or contact us for engineering support in English.