9116 Series 000, 100, 200 and 400 Features
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Designed to provide compliance in the lateral, cocking, axial, and torsional
directions.
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Projected (remote) compliance center: The Center-of-Compliance (C-of-C)
is the point in space at which a contact force will cause a translation with no
rotation and a torque will cause rotation with no translation. When the
C-of-C is near the insertion contact point, the insertion part axis will align
with the location axis during assembly.
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The Compensator consists of a single device with all components contained
within the unit's outside diameter.
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The 9116 Series is available in various sizes and configurations.
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The Compensator includes anodized aluminum top and bottom plates, steel
overload pins, and shear pads. The 000 and 100 sizes use 3 shear pads.
The 200 size uses either 3 or 6 shear pads. The 400 size uses 6 to 12 shear pads.
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Units with lock-up include an air cylinder, bearing plate, lock-up
screws, and lock-up screw bushings.
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Units with lock-sensing also require a sensor fitting and a cabled proximity
sensor.
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9116 Series 000, 100, 200 and 400 size Compensators have two options for
interfacing to a robot assembly machine. Units can be mounted by using
the tapped holes on the robot side (top) plate or by bolting through the robot
side (top) plate to the robot or assembly machine. The tool side (bottom)
plate uses the same two methods for mounting tooling to the unit as the robot
side (top) plate.
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All units have (2) dowel pins for location on the robot (top) side
plate and (2) dowel pins for location on the tool (bottom) side plate.
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Compliance is limited by three overload pins. When the unit has reached
maximum compliance, the overload pins support the load to prevent damage to
shear pads.
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