SIX-AXIS ROBOT — APPLICATION SELECTION WORKSHEET
Yenra | 2026-09-07 | https://yenra.com/6-axis-robots/

Purpose: turn a task into a specification and supplier demonstration.
This worksheet and its sample arithmetic do not approve a robot load or cell.

Project / owner / date / revision:
Part and tool CAD revisions:
Required pickup, process, delivery, retreat and changeover poses:
Coordinate reference and units:
Tool center point definition and orientation requirements:
Base mount / fixture / obstruction / cable routing geometry:
Alternative mechanism considered and reason:

LOAD RECORD — use a common flange coordinate frame
Component | Mass kg | Center X mm | Center Y mm | Center Z mm | Evidence
Gripper   |         |             |             |             |
Adapter   |         |             |             |             |
Part      |         |             |             |             |
Sensor    |         |             |             |             |
Other     |         |             |             |             |

Total mass M = sum of all carried component masses.
For each coordinate: combined center = sum(mass * component center) / M.
Calculate empty and loaded states. A center-of-gravity calculation does not
provide inertia; obtain the actual assembly's mass properties as prescribed.

Fictional axial example (all centers on one axis):
Gripper 2.0 kg at 80 mm; adapter 0.5 kg at 20 mm; part 3.0 kg at 180 mm.
Loaded: M=5.5 kg; center=(160+10+540)/5.5=129.09 mm.
Empty: M=2.5 kg; center=(160+10)/2.5=68 mm.
Check both against the chosen model's load diagram and motion conditions.

Supplier-approved load evidence / diagram version:
Inertia information and uncertainty:
Accessories and supported services included or excluded:

PERFORMANCE
Required product result and tolerance:
Point/path, translational/orientation requirement:
Reference frame and measurement method:
Tool calibration / fixture / part variation assumptions:
Complete cycle with gripping, waiting, inspection and settling:
Duty, environment and process forces:

DEMONSTRATION
Simulation: every required pose/path accessible, constraints recorded:
Physical trial: representative parts/load, output and failures recorded:
Safety/integration assessment owner:
Open requirements, supplier actions and decision:

Revisit after changes to part, tool, mass distribution, mounting, path,
process, firmware or required quality.
References:
https://www.nist.gov/publications/helping-robots-stay-target
https://www.iso.org/standard/73934.html