Adept s650H Quattro - Manual (Page 93)

Robot Mounting Frame
Adept Quattro s650 Robot User’s Guide, Rev B 93
7.6 Robot Mounting Frame
The Adept Quattro s650 is designed to be mounted above the work area suspended on a
user-supplied frame. The frame must be adequately stiff to hold the robot rigidly in place
while the robot platform moves around the workspace. The user can either use the design
provided or design a custom support frame. See
“Mounting Frame” on page 38 . The
drawings for the sample frame are provided here, starting with Figure 7-6 on page 94 .
If the user chooses to design a custom frame, it must meet the following specifications:
Desired Frame Natural Frequencies for Stable Quattro Operations:
• Wn (X direction) > 45 Hz.
• Wn (Y direction) > 31 Hz.
• Wn (Twist) > 45 Hz.
• Mounting surfaces for the robot flanges must be within 0.75 mm of a flat plane.
The AIB must be removable from the top of the frame and the inner and outer arm travel
envelopes must be considered. See
Figure 7-4 on page 88 .
The following are drawings of a frame suitable for supporting the Adept Quattro s650
robot. This frame allows the Quattro to be either lowered from above or lifted up from
underneath the frame for installation.
NOTE: This frame is designed to have the robot mounted to the underside
of the frame mounting tabs.
CAUTION: Failure to mount the Quattro robot within
0.75 mm of a flat plane will result in inconsistent robot
motions.