Table 4 Calculated gripping force and power required by the multifunctional robotic end-effector during RVS machine maintenance
RVS machine subsystems | Weights (kg) | Gripping force (N) | Power (W) |
|---|---|---|---|
Screen panels | 3.60336 | 176.56 | 33.285 |
Torsion bar | 13.42415 | 657.78 | 124 |
Torsion bar bracket | 2.6075 | 127.77 | 24.087 |
Side plate | 25 | 1225 | 230.937 |
Side liner plates | 6.6 | 323.4 | 60.967 |
Back plate | 12.4 | 607.6 | 114.545 |
Back liner plate | 3.273 | 160.377 | 30.234 |
M-20 bolt | 0.156 | 7.644 | 1.441 |