(1) Transmission structure design
Draw up the overall plan, determine the structure of the robot, and carry out preliminary transmission structure design, part structure design, and three-dimensional modeling based on this. The designer is required to be very familiar with and understand the common structural forms of robots, common transmission principles and transmission structures, and the types and characteristics of reducers, and have strong structural design capabilities and experience.
(2) Selection of reducer
It is necessary to have a deep understanding of the structure type of the reducer and the meaning of the performance parameters, and the type selection and calculation of the reducer will be performed. The reducer must be inspected and tested. The contents of the inspection mainly include noise, jitter, output torque, torsional stiffness, backlash, repeat positioning accuracy, and positioning accuracy. The vibration of the reducer will cause the end of the robot to shake and reduce the accuracy of the robot's trajectory. There are many reasons for the vibration of the reducer. Among them, resonance is a common problem. Robot companies must master methods to suppress or avoid resonance.
(3) Motor selection
It is necessary to have a good understanding of the working characteristics of the motor, and calculate and check the torque, power and inertia of the motor.
(4) Simulation analysis
Carry out simulation analysis of statics and dynamics, check the selection of motors and reducers, check the strength and rigidity of the body parts, reduce the weight of the body, improve the working efficiency of the robot, and reduce the cost. Perform modal analysis on the three-dimensional model to calculate the natural frequency, which is helpful for resonance suppression.
(5) Reliability design
The structural design adopts the most simplified design principle; the body cast iron parts adopt nodular cast iron materials with better comprehensive performance, and the cast aluminum parts adopt casting materials with good fluidity and adopt metal mold casting; assembly must have a detailed assembly process instruction book, during the assembly process There are parts and single-axis tests; after assembly, there must be a complete machine performance test and a durable copy machine test; the protection level design of the complete machine is improved, and the anti-interference ability of the electric cabinet is improved to be suitable for use in different working environments.