Load model
Include tool mass, centre of gravity, inertia, process force, cable load and transient acceleration at every critical pose.
System anatomy · 05
Manipulator and drives
Connect kinematics, motors, transmissions, thermal limits and controller behaviour to the real payload and duty cycle.
Evidence statusEngineering decision framework · cell-specific validation requiredLast reviewed: 11 August 2026
05
FUURAA thesis
Rated payload and reach are envelope labels; usable performance is a pose-, speed-, acceleration-, tool- and duty-dependent surface.
Engineering map
Turn the title into engineering objects that can be observed, measured and reviewed.
Each layer states the boundary to establish and the evidence needed for the next decision.
Motion quality
Measure pose and path behaviour under production speed, warm-up state, payload and mounting conditions.
Health and limits
Track thermal derating, backlash, vibration, brake condition, lubrication and accuracy drift across service life.
Verification questions
Write the questions first, then decide whether a demo, test, pilot or operating record can answer them.
Each question needs an object, conditions, denominator, threshold and accountable decision owner.
- 01
What payload and inertia remain usable at the target reach and acceleration?
- 02
Which joints become torque or thermal bottlenecks?
- 03
How do mounting and cable routing change measured motion?
- 04
What maintenance signal appears before process quality degrades?
Evidence to preserve
Enable the next reader to reconstruct conditions, results, failures and the decision.
A conclusion alone loses reviewability; raw records, configuration and exclusions matter too.
- 01
Evidence package 1
Application load and inertia calculation by critical pose
- 02
Evidence package 2
Warm and cold performance tests at production speed
- 03
Evidence package 3
Trend record for vibration, position error and intervention
Scope boundary
State what this evidence still cannot be generalised to.
- 01
Catalogue maxima are rarely simultaneous and do not include every tool, cable, process or environmental constraint.
- 02
This is an engineering reading and decision framework; it does not replace application-specific risk assessment, conformity work, procurement acceptance or professional advice.
Sources and evidence status
Read standards scope, measurement evidence and application conclusions separately.
Source dates and review status remain visible; external sources open in a new tab.
01
ISO · 1998-04
↗02ISO 9283:1998 — Performance criteria and related test methods
Provides a common measurement frame for pose, path, velocity and related manipulator performance characteristics.
NIST · 2018-06-01
↗Quick health assessment for industrial robot degradation
Demonstrates measurement of tool-centre position and orientation degradation to support condition assessment.