NSK option (owned as an option of RobotWorks by NSK Ltd. in Gunma prefecture) This application was developed for deburring.
The axial displacement (calculated from inverse kinematics) that a 6-axis vertical articulated robot can take does not always stabilize its posture. In particular, the displacement of the 6 axes may cause the posture to collapse significantly.
To prevent this, the NSK option is to fix the Z-axis rotation of the 6-axis and attach the 7-axis to the tip of the 6-axis so that the 7-axis can rotate.
As a result, the posture is considerably stable and there are fewer processing defects (Fig. 41).