Hello, I am developing a bolting task.
I watched this webinar (Atornillado Colaborativo) sorry is in Spanish.
However, the most important is the analysis of some points with high-torque screwdrivers. I summarize the following points:
- avoid having the Z-axis of the tool parallel to the Z-axis of the tool flange, the 90-degree offset will reduce stress on the joints.
- Includes a spring or other mechanical compensation to allow the screwdriver tip to follow the fastener head while tightening so that the robot is at complete rest during the task.
- Ensure a distance of 20 to 40 cm between the center of the flange and the TCP to reduce the bolting reaction force.
- Uses 90 degrees between mounting and tooling directions, with two points of clamping.
I understood points 1, 2, and 4, but I don’t understand the reason behind point 3.
Could you help with an explanation or some paper?
thanks
I can’t give you an answer to point 3, either. I don’t see why that is necessary. 
However, I would like to add to point 1, that a 45-degree angle is better than 90 degree, as far as I know. Then you won’t risk getting into singularities and should always have the option to use the built-in force functions (which is not possible close to singularity).