Weiheng Engineering • Version 1.0 • October 30, 2026

Robot Joint Gravity, Inertia and Transient Load Reproduction Matrix

Robot-joint load reproduction must separate gravity, inertia, and transient events because they create different torque-time-position conditions. Fix the DUT, load application and measurement planes, orientation, model, trajectory, actuator state, fixture compliance, synchronized channels, validity rules, and safety limits before acceptance is defined.

Project and boundary identification

Project / DUT	Revision	Date
Included components	Load application plane	Measurement plane
Constraint / orientation	Control / brake state	Fixture boundary

Three load families

Load family	Physical question	Required definition	Core synchronized evidence	Validity and safety controls
Gravity	How does orientation-dependent external moment act through motion?	Mass, center of mass or lever, gravity direction, joint angle, orientation, load path, cable or hose force	Target and measured torque, angle, orientation, load state, control and brake state, temperature	Geometry and plane check, fixture state, valid angle region, guarding and approved limits
Inertia	How does the joint respond while accelerating or decelerating an equivalent load?	Inertia or mass model at a named plane, trajectory, acceleration, ratio conversion, direction, gravity/friction treatment	Command, torque, speed, position, acceleration, controller state, time, temperature	Model version, saturation, fixture, running-loss separation, data integrity and stop rules
Transient / impact	How does a declared short-duration load event enter the joint and structure?	Approved waveform or envelope, initial state, preload, peak, rise, duration, direction, repetition and reset	Target and measured load, torque or force, time, position/speed, acceleration, trigger, event and safety state	Sensor/actuator range, clipping, bandwidth, structure, guarding, containment, energy/rate limits and abort logic

Method and evidence record

Control	Required declaration	Project entry / evidence reference
Reproduction approach	Physical mass/inertia, active load device, model-based command, or representative mechanism; include trade-offs and retained effects
Timebase and processing	Clock, trigger, sample timing, filtering, interpolation, dropped samples, calculation/model version
Valid run	Initial state, trajectory/event envelope, delivered load, sensor range, safety state and data-integrity rules
Uncertainty inputs	Sensor, geometry/mass/inertia model, alignment, timing, fixture, conversion and repeat contributions
Acceptance	Load family, operating points, target envelope, permitted deviation, valid-run rule, uncertainty decision and evidence
Deviation / retest	Preserve original result, reason, correction, new configuration and relationship to the retest

Evidence limit: This matrix defines a reproducible review structure. It does not claim a Weiheng load, speed, acceleration, bandwidth, impact, safety rating, accuracy, customer result, or universal acceptance limit. Project values require approved primary evidence and safety review.