Industrial Robotics Assignment NO 1

NACHI SRA240
The SRA 240 is specifically designed for the fast paced automotive industry by
reducing cycle times it significantly improves productivity and achieves cost
reductions
They are also ideally suited to spot welding applications. The SRA 240 is highly
rigid and weight less, providing faster motion and less vibration. Advanced
motion control provides top acceleration thereby shortening cycle-times.

Features of SRA 240:
1.) Improved Productivity-
High speed gun motor control for fast open / close
High acceleration SRA robot for quickest movement between welds
2.) Improved Weld Quality-
Pressure calibration up to 10 points for more accurate pressure through
the spot welding range
Integrated spot weld timer.
Spot weld solutions for aluminium parts
Robot mounted Seam Welder

Applications:
1.) Automotive industry : The pneumatic gripper is used; it is popular
due to its compact size and light weight. It can easily be incorporated
into tight spaces, which can be helpful in the automotive industry.
2.) Spot Welding : Adaptive Gripper. Adaptive Robot Grippers handle a
wide variety of part shapes and is often used for welding.
3.) Machining: Series TSU-Jaw Machining Grippers
4.) Seam welding: Adaptive Gripper. Adaptive Robot Grippers handle a
wide variety of part shapes and is often used for welding.

Specifications:
Max Speed:
Axis 1 1.83 rad/s (105 /sec)
Axis 2 1.57 rad/s (90 /sec)
Axis 3 1.74 rad/s (100 /sec)
Axis 4 2.27 rad/s (130 /sec)
Axis 5 2.18 rad/s (125 /sec)
Axis 6 3.40 rad/s (195 /sec)

Max Payload:
Wrist: 240 kg
Forearm: 20 kg (45 kg at maximum)

Kinematic Constraints:
Axis 1 +/- 180
Axis 2 -80 to +60
Axis 3 -146.5 to +150
Axis 4 +/-360
Axis 5 +/-130
Axis 6 +/-360