<p style="margin-left:48px; text-align:justify"><span style="font-size:14px"><span style="color:#000000">Required position, speed/velocity and acceleration</span></span></p>

<ul>
	<li style="list-style-type:disc; text-align:justify"><span style="font-size:14px"><span style="color:#000000">This parameter is closely related to each user. The specification table of an industrial arm shows the maximum speed of the model, but we should know that considering the acceleration and deceleration from one point to another, the actual speed will be between zero and the maximum speed and is usually expressed in degrees/second.</span></span></li>
	<li style="list-style-type:disc; text-align:justify"><span style="font-size:14px"><span style="color:#000000">The requirement of an industrial robot on the factory floor arises mainly because of a few reasons; the need for manpower reduction, reduction in cycle-time, increasing throughput and reducing process inventory. It is clear that all these reasons are at a benefit by increasing the speed of the process/task that is being automated. For example: taking a manual production process of welding has a certain inventory, process flow and cycle time attached to it. Now, in the case of an increase in demand and the want of increasing the weld pool consistency, product parity and overall aesthetic quality, an industrial welding robot is the right choice. To start the analysis, the speed of a manual process is generally known and is based on batch size and the average time taken along with the amount of manpower utilized to complete one product. Once this data is studied, the new speed requirement of the process is based on process deviation (example: opting for automated MIG welding instead of manual TIG welding), order completion time and QC passing time. That is, if our manual welding process took 30 minutes, based on the budget and requirement the cycle-time (and hence the speed) of the robotic welding cell can be decided to be in the range of 5 minutes to 29 minutes. Once the ideal speed is calculated, the acceleration and torque graphs along with space requirements are also studied before pin-pointing the speed. In our example, as welding is a heat treatment and requires a certain amount of curing time, a 5 minute cycle time even if possible should not be opted for.</span></span></li>
</ul>

<p style="text-align:justify">&nbsp;</p>

<p style="margin-left:48px; text-align:justify"><span style="font-size:14px"><span style="color:#000000">Required Gripper Speed</span></span></p>

<ul>
	<li style="list-style-type:disc; text-align:justify"><span style="font-size:14px"><span style="color:#000000">Once the speed of the robot for the task is decided, it is also essential to decide the gripper speed. The gripper speed is completely dependent on the product the robot is working with and the application. That is, for example: if the task is a simple pick and place, the sensitivity of the product coming in contact with the gripper is important; an iron piece can be transported and gripper at high speeds and high gripping force but at the same time a thin&nbsp;glass film cannot be subjected to high speeds as the gripping force cannot exceed a certain threshold.</span></span></li>
</ul>