Zimmer FGR, XYR and ARP Axis Compensation Modules Review: Specs, Price and Applications
Zimmer Group's axis compensation modules, offered as the FGR, XYR and ARP series, let a robot tool comply with part and fixture tolerances during joining, insertion and placing. Balancing force and stroke are adjustable with setting screws.
A flat design keeps the tool stack short, which reduces the moment load on the robot and often allows a smaller, more affordable robot or gripper size. The equalizer can be clamped centrally or de-centrally depending on the process.
Quick Verdict
A flexible family of compliance modules that help robots join parts without expensive precision positioning. The flat build is a real benefit on smaller robots.
Zimmer FGR, XYR and ARP Axis Compensation Modules at a Glance
Specification | Details |
Product family | FGR, XYR and ARP axis compensation modules |
Adjustment | Balancing force and stroke via adjusting screws |
Design | Flat construction to reduce robot moment load |
Locking | Central or de-central clamping of the equalizer |
Category | Compliance and alignment devices |
Price | Request a quote |
Design and Operating Principle
Compensation modules decouple the tool from small position errors. Instead of forcing a part into a slightly misaligned bore, the module lets the tool float so chamfers guide the part into place. The XYR type addresses lateral (X-Y) offsets, while other members of the family handle further axes or angular compliance.
Adjustable balancing force lets engineers tune how easily the tool deflects. Light parts and delicate chamfers need soft compliance; heavy tools need more balancing force so they do not sag during motion.
Central or de-central clamping lets the unit be held rigid in the middle position or locked in an offset position, which supports processes where a found offset should be kept.
Integration and Selection
Choose the module type by the direction of misalignment, then set stroke and balancing force for the tool mass and contact forces. Keep the stack flat to minimise moments on the robot wrist.
Program the clamping logic so that the module is rigid during fast moves and compliant only at the joining point.
Industry Applications
Industry | Typical use |
Automotive assembly | Inserting pins, bolts and bushings |
Electronics | Placing components into fixtures |
Machine tending | Loading parts onto locating pins |
Appliances | Joining housings with tolerance variation |
Functional Uses
Lateral tolerance compensation
Peg-in-hole insertion
Rigid travel with central clamping
Keeping an offset with de-central clamping
Pros and Cons
Advantages
Adjustable force and stroke
Flat design reduces moment load
Central and de-central locking
Several module types
Limitations
Settings must be tuned per tool
Adds a module to the tool stack
Clamping logic required
Who Should Consider the Zimmer FGR, XYR and ARP Axis Compensation Modules?
These modules suit assembly and handling cells that must absorb tolerances without high-precision vision or force control.
Price and Availability
Price: Request a quote. Zimmer Group prices the FGR / XYR / ARP by size, options and quantity, so the final figure depends on the exact configuration. Budget for the complete tooling package, including fingers or adapters, mounting, air or electrical connections and commissioning time, rather than the module alone.
Further Reading
Zimmer FGR, XYR and ARP Axis Compensation Modules FAQ
Which models are included?
The FGR, XYR and ARP axis compensation modules.
Can force and stroke be adjusted?
Yes, with adjusting screws.
Why does the flat design matter?
It reduces the moment load on the robot, allowing smaller sizes.
Can the module be locked?
Yes, the equalizer can be clamped centrally or de-centrally.
Where are they used?
Assembly, insertion and machine tending with position tolerances.
How much do they cost?
Request a quote from Zimmer Group.
